Dexterous hand-arm coordinated manipulation using active body-environment contact

Taisuke Sugaiwa, Yasumasa Yamaguchi, Hiroyasu Iwata, Shigeki Sugano

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

    3 Citations (Scopus)

    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 publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Pages4168-4173
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 11
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    Duration: 2009 Oct 112009 Oct 15

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CitySt. Louis, MO
    Period09/10/1109/10/15

    Fingerprint

    Motion control
    Robots
    End effectors
    Glass

    Keywords

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

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Sugaiwa, T., Yamaguchi, Y., Iwata, H., & Sugano, S. (2009). Dexterous hand-arm coordinated manipulation using active body-environment contact. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4168-4173). [5354212] https://doi.org/10.1109/IROS.2009.5354212

    Dexterous hand-arm coordinated manipulation using active body-environment contact. / Sugaiwa, Taisuke; Yamaguchi, Yasumasa; Iwata, Hiroyasu; Sugano, Shigeki.

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4168-4173 5354212.

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

    Sugaiwa, T, Yamaguchi, Y, Iwata, H & Sugano, S 2009, Dexterous hand-arm coordinated manipulation using active body-environment contact. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354212, pp. 4168-4173, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, 09/10/11. https://doi.org/10.1109/IROS.2009.5354212
    Sugaiwa T, Yamaguchi Y, Iwata H, Sugano S. Dexterous hand-arm coordinated manipulation using active body-environment contact. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4168-4173. 5354212 https://doi.org/10.1109/IROS.2009.5354212
    Sugaiwa, Taisuke ; Yamaguchi, Yasumasa ; Iwata, Hiroyasu ; Sugano, Shigeki. / Dexterous hand-arm coordinated manipulation using active body-environment contact. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 4168-4173
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