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

Taisuke Sugaiwa*, Hiroyasu Iwata, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
ページ653-659
ページ数7
DOI
出版ステータスPublished - 2009 12 1
イベント9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris, France
継続期間: 2009 12 72009 12 10

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)

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