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
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei
    Duration: 2010 Oct 182010 Oct 22

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CityTaipei
    Period10/10/1810/10/22

    Fingerprint

    Motion planning
    Robots
    End effectors
    Experiments

    ASJC Scopus subject areas

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

    Cite this

    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] https://doi.org/10.1109/IROS.2010.5652645

    Motion-planning method with active body-environment contact for a hand-arm system including passive joints. / Sugaiwa, Taisuke; Nezumiya, Masanori; Iwata, Hiroyasu; Sugano, Shigeki.

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 69-74 5652645.

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

    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., 5652645, pp. 69-74, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, 10/10/18. https://doi.org/10.1109/IROS.2010.5652645
    Sugaiwa T, Nezumiya M, Iwata H, Sugano S. 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. 2010. p. 69-74. 5652645 https://doi.org/10.1109/IROS.2010.5652645
    Sugaiwa, Taisuke ; Nezumiya, Masanori ; Iwata, Hiroyasu ; Sugano, Shigeki. / Motion-planning method with active body-environment contact for a hand-arm system including passive joints. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 69-74
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