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Whole-body manipulation is necessary for a humanoid robot to achieve tasks such as carrying large objects. One difficulty for achieving a whole-body manipulation is that the robot needs to select the appropriate operation from a list of candidates, such as lifting, pushing, and tilting. The appropriate operation depends upon the target object's physical properties, including its mass, center of mass,...
This paper shows a method for achieving multi-contact motion for a humanoid robot on a movable object, such as climbing of a stepladder. Recent research has developed methods for achieving multi-contact motion that considers various constraints, such as joint limits, torques, balance constraints, reachability, and collision avoidance. In addition to these constraints, Motion On a Movable Object (MOMO)...
Picking objects in a narrow space such as shelf bins is an important task for humanoid to extract target object from environment. In those situations, however, there are many occlusions between the camera and objects, and this makes it difficult to segment the target object three dimensionally because of the lack of three dimentional sensor inputs. We address this problem with accumulating segmentation...
For daily assistive robots working in home environment, it is important to use geometry-free representation for navigation which can deal with dynamic environmental changes. In this paper we propose semantic map based navigation which consists of 1) generating deep learning enabled semantic map from annotated world and 2) object based navigation using learned semantic map representation. One point...
Groping behavior based on contact sensors is necessary for manipulation in an unknown environment. For those situations, it is effective for a robot to accumulate contact information as an environment map, and to plan the motions for executing the safe trial motion. We first propose a method of updating the occupancy grid map of the manipulation region from the contact information by introducing the...
This paper presents a high level system architecture of the work done by Team NEDO-JSK for DRC (DARPA Robotics Challenge), which was held on 5th–6th, June, 2015, California, USA. DRC was a competition which included driving vehicle, manipulating objects and locomotion over rough terrain. Communication between robot and operators were limited in a similar way to teleoperating situation. The system...
This paper presents Team NEDO-JSK's approach to the development of novel humanoid platform for disaster response through participation to DARPA Robotics Challenge Finals. This development is a part of the project organized by New Energy and Industrial Technology Development Organization. Technology for this robot is based on the recent research of high-speed and high-torque motor driver with water-cooling...
This paper describes a practical method to construct real-time controllers to achieve locomotion and manipulation tasks with a humanoid robot. We propose a method to insert emergency stop functionality to each layer to avoid robot's falling down and joint overloads even if recognition and planning error exist. We explain implementation of multi-layered real-time controllers on HRP2 robot and application...
In recent years, humanoids have been expected to play an important part in disaster response due to safety concerns. For disaster response, humanoids should do tasks in unknown and unstructured environments possibly with limited communications. Firstly this paper presents a robot operating system in which complementary integration of autonomous and manual functions is achieved. In our system operator...
Whole-body holding manipulation is effective for carrying the handleless large object. In order to keep the object stability, the dexterous transition motion is necessary. From geometric and physical conditions of object manipulation, we propose the general method of generating the transition graph, which represents the object pose and grasp contact. By searching the path on the graph, the transition...
Humanoid robot is able to execute various behavior to manipulate objects because of high degree-of-freedom around the whole-body. Although hands contact with objects and exert force in ordinary pushing motion by robot, pushing motion contacting with the object at various regions of whole-body has potential for extending the scope of feasible manipulation. We derive the fundamental formulas of humanoid...
Whole-body motions involving contacts in some complex terrains may become sometimes high-load and unstable ones. These kinds of motions have a novel problem not considered in the previous studies: integration of load. For example, in the situation of a electric motor subjected to some high loads, motor temperature will increase as integrating loads, and finally, fatal accident such as melting of motor...
In order to perform the carrying task of large and heavy objects, the robot needs to acquire the proper manipulation strategy depending on the object property. The manipulation strategy which depends on unknown physical parameters such as mass and friction property is difficult to plan beforehand, so acquiring strategy by trial and error is effective. In this paper, we propose the learning methods...
In case that a robot carries large and heavy objects with unknown physical parameters such as mass automatically, the autonomous decision and execution of the manipulation strategy are necessary. The method to decide the proper strategy from the various candidates depending on the object is a difficult problem and not researched widely. We consider the operation as the mapping from the physical parameter...
For humanoid robots to perform whole-body motions, a motion planner should generate feasible motions satisfying various constraints including joint torque limitation, friction, balancing, collision, and so on. Furthermore, for life-size humanoid robots to perform higher-load motions, such as climbing ladders, safely, it is important to generate motions which requirements are not too close to the limitations...
In the case of object manipulation by a humanoid robot, it is important to deal with contact states between objects, a robot, and an environment both to avoid falling down and to achieve objective manipulations. We propose a method to describe and uniformly execute various object manipulations by a humanoid robot. In description, we focus on the contact states and define manipulation phases according...
For a humanoid robot, both locomotion and object manipulation include contact state changes between the robot, an object, and an environment. It is important for the humanoid's controller system to know the actual contact states. In this paper, we propose a method to describe and execute humanoid's behavior including both object manipulation and locomotion by focusing on contact states. We represent...
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