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In recently years, the production method has changed from the diversification of a sense of values from mass production to diverse-types-and-small-quantity production on the production site. Therefore, a productive system that can correspond to changes in the environment is required. In a productive system that performs handling tasks, we use a hand-eye system with a camera and a manipulator and perform...
In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at the robot's base. In contrast to conventional force/torque sensing at the end-effector, placing the sensor at the base allows to implement a compliant behavior of the robot not only with respect to forces acting on the end-effector but...
In this paper, mimetic communication is extended to human-robot interaction tasks, in which physical contact transitions must be handled. The mimetic communication consists of imitation learning for learning low level motion primitives and a higher level interaction learning stage in which also the information about the human-robot contacts is included. For the imitation learning, Cartesian marker...
This paper deals with the imitation of human motions by a humanoid robot based on marker point measurements from a 3D motion capture system. For imitating the humanpsilas motion, we propose a Cartesian control approach in which a set of control points on the humanoid is selected and the robot is virtually connected to the measured marker points via translational springs. The forces according to these...
This paper presents a dynamics simulator that can handle complex robotic systems including position-controlled joints and closed kinematic chains. We first extend our prevous algorithm for linear-time forward dynamics algorithm to handle closed kinematic chains. The extended algorithm is formally presented for the first time. We then present another extension that allows position-controlled joints,...
There are many kinds of flexible objects in house. For example, papers, rubbers, clothes are the typical objects. So, a home service robot is needed the operating techniques for flexible objects. However, to operate these objects have not established because these objects have variable characteristics that is different from each material. In fact, it is difficult to realize to represent object's modeling...
This paper discusses low level control of the humanoid UT-Theta which has been developed at the University of Tokyo. This innovative humanoid walking robot is equipped with knee joint switchable between active and passive operation mode using a backlash clutch. A nonlinear, time optimal, hybrid controller for this knee joint is presented. The controller avoids discontinuities in the commanded trajectories...
This paper discusses walking control of Theta, an innovative humanoid walking robot equipped with a double spherical hip joint and a knee joint switchable between active and passive operation mode, which has been developed at the University of Tokyo. The walking generator and controller are presented, including some implementation aspects. It is based on the inverted pendulum approach with the innovative...
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