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 Dec 1
Event9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris, France
Duration: 2009 Dec 72009 Dec 10

Publication series

Name9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

Conference

Conference9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
CountryFrance
CityParis
Period09/12/709/12/10

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)

Fingerprint Dive into the research topics of 'A motion control for dexterous manipulation with human mimetic hand-arm system'. Together they form a unique fingerprint.

  • 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] (9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09). https://doi.org/10.1109/ICHR.2009.5379511