Motion-planning method with active body-environment contact for a hand-arm system including passive joints

Taisuke Sugaiwa, Masanori Nezumiya, Hiroyasu Iwata, Shigeki Sugano

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

1 Citation (Scopus)

Abstract

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places as the average age of the population increases. To improve the task performance of human-symbiotic humanoid robots, a motion-planning method with active body-environment contact was developed. Taking into account the positive and negative effect of mechanical passive elements implemented in joints, this motion-planning method can enables the hand-arm system to establish the active BE contact at the appropriate body-site and to select the joints that perform the movement for executing the given task. Control algorithms for the tool operation, namely, writing with a pen, were also constructed. The motion-planning method was validated through actual experiments on a prototype human-symbiotic humanoid robot.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages69-74
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Sugaiwa, T., Nezumiya, M., Iwata, H., & Sugano, S. (2010). Motion-planning method with active body-environment contact for a hand-arm system including passive joints. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 69-74). [5652645] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5652645