A motion control for dexterous manipulation with human mimetic hand-arm system

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.

    Original languageEnglish
    Title of host publication9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
    Pages653-659
    Number of pages7
    DOIs
    Publication statusPublished - 2009
    Event9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris
    Duration: 2009 Dec 72009 Dec 10

    Other

    Other9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
    CityParis
    Period09/12/709/12/10

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    Keywords

    • Active body-environment contact
    • Coordinated motion of hand and arm
    • Motion control scheme
    • Stable object manipulation

    ASJC Scopus subject areas

    • Computer Science(all)

    Cite this

    Sugaiwa, T., Iwata, H., & Sugano, S. (2009). A motion control for dexterous manipulation with human mimetic hand-arm system. In 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 (pp. 653-659). [5379511] https://doi.org/10.1109/ICHR.2009.5379511