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

    Fingerprint

    Motion control
    End effectors
    Robots
    Glass

    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

    A motion control for dexterous manipulation with human mimetic hand-arm system. / Sugaiwa, Taisuke; Iwata, Hiroyasu; Sugano, Shigeki.

    9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. 2009. p. 653-659 5379511.

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

    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., 5379511, pp. 653-659, 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, Paris, 09/12/7. https://doi.org/10.1109/ICHR.2009.5379511
    Sugaiwa T, Iwata H, Sugano S. A motion control for dexterous manipulation with human mimetic hand-arm system. In 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. 2009. p. 653-659. 5379511 https://doi.org/10.1109/ICHR.2009.5379511
    Sugaiwa, Taisuke ; Iwata, Hiroyasu ; Sugano, Shigeki. / A motion control for dexterous manipulation with human mimetic hand-arm system. 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. 2009. pp. 653-659
    @inproceedings{c45a5404c5874b098974020bb565fe92,
    title = "A motion control for dexterous manipulation with human mimetic hand-arm system",
    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.",
    keywords = "Active body-environment contact, Coordinated motion of hand and arm, Motion control scheme, Stable object manipulation",
    author = "Taisuke Sugaiwa and Hiroyasu Iwata and Shigeki Sugano",
    year = "2009",
    doi = "10.1109/ICHR.2009.5379511",
    language = "English",
    isbn = "9781424445882",
    pages = "653--659",
    booktitle = "9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09",

    }

    TY - GEN

    T1 - A motion control for dexterous manipulation with human mimetic hand-arm system

    AU - Sugaiwa, Taisuke

    AU - Iwata, Hiroyasu

    AU - Sugano, Shigeki

    PY - 2009

    Y1 - 2009

    N2 - 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.

    AB - 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.

    KW - Active body-environment contact

    KW - Coordinated motion of hand and arm

    KW - Motion control scheme

    KW - Stable object manipulation

    UR - http://www.scopus.com/inward/record.url?scp=77950571090&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=77950571090&partnerID=8YFLogxK

    U2 - 10.1109/ICHR.2009.5379511

    DO - 10.1109/ICHR.2009.5379511

    M3 - Conference contribution

    AN - SCOPUS:77950571090

    SN - 9781424445882

    SP - 653

    EP - 659

    BT - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

    ER -