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It is necessary for a robot system to control accuracy and region-of-interest according to safety, specified time limit, and available computer resources. If enough duration for a task is provided, robot can use more accurate perception and planners producing higher rate of success. In the research and development of robot systems, these relationship between accuracy and computation time has been...
To achieve tasks in unknown environments with high reliability, highly accurate localization during task execution is necessary for humanoid robots. In this paper, we discuss a localization system which can be applied to a humanoid robot when executing tasks in the real world. During such tasks, humanoid robots typically do not possess a referential to a constant horizontal plane which can in turn...
In the wake of the DARPA Robotics Challenge, the task for robots to drive vehicles has been expected to be a method for robots to transport themselves to the disaster site where it is hazardous for humans to approach. In the driving task, it is important for the robot to estimate the path of the vehicle and select an appropriate path for navigation through unknown obstacles, even under limited communication...
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 the field of assistive and disaster response robotics, robots must perform long term or momentary high-load tasks, such as holding heavy objects or climbing up and descending from a high step in environments with a lot of disturbances. In such cases, the robot joints could potentially break due to an unintended load during high-load tasks in environments where detection of contact forces is difficult...
Object handover is a basic task in many human-robot interactive scenarios and therefore, it is important for assistive robots to be able to perform proper handovers. We previously designed a human-inspired grip-force-varying handover controller for a robot giver and showed on a Willow Garage PR2 robot that the controller yields human-like and human-preferred handovers. The PR2 robot had a non-compliant...
Object handover is a basic task that is found in many human-robot cooperation scenarios. If we are to build socially acceptable robots, we need to enable robots to perform handovers properly. In this paper, we discuss some of the social implications of proper robot-human handovers, and we focus on the challenge of determining a proper grasp configuration when handing over an object. We propose a framework...
Recognizing environmental contact on whole body of a humanoid robot can be very advantageous to work with people in human's environment. In the tasks with environmental contacts, it is important as an interface with the environment to detect pushing, shearing and twist on the whole body of a robot such that it gets to know its current state and what to do next. In this paper, we describe a full body...
Manipulation of structured objects connected to the environment by a kinematics chain involves two problems: (a) The objects have movable directions and unmovable directions. An undesired reaction force in the unmovable directions prevents a robot from successful manipulation; (b) The reaction forces from the objects could fluctuate during manipulation. Related works have enabled robots to manipulate...
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