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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)...
We present a field robot platform HRP2G with humanoid upper body and a high power mobile wheeled base that focus on outdoor tasks. We assemble the hardware of both parts and create a software bridge between the humanoid upper body and the mobile wheeled base through popular robotics software ROS. For the humanoid upper body, we use HRP2 robot and for the mobile wheeled base we buy individual parts...
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...
Biped robots are expected to explore in the unknown environment which has undulate floors and a lot of obstacles on the floors. Such kind of the environment are difficult for wheeled mobile robots. In addition to planning and recognition functionality, interruption from operators to the systems are important to change behavior of navigation system. In order to achieve the tasks safely, as the system...
This paper describes the bipedal humanoid robot that makes human laugh with its whole body expression and affect human's psychological state. In order to realize "Social interaction" between human and robot, the robot has to affect human's psychological state actively. We focused on "laugh" because it can be thought as a typical example for researching "Social interaction"...
In this paper, we describe a human gesture recognition system developed to make a humanoid robot understand non-verbal human social behaviors, and we present the results of preliminary experiments to demonstrate the feasibility of the proposed method. In particular, we have focused on the detection and recognition of laughter, a very peculiar human social signal. In fact, although it is a direct form...
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...
Many countries around the world face three major issues associated with their aging societies: a declining population, an increasing proportion of seniors, and an increasing number of single-person households. To explore assistive technologies that can help solve the problems faced by aging societies, we have tested several information and robot technologies. This paper introduces research on a home-assistant...
One of the important points for realizing a plan-based robotic system is to recover from errors while the system executes its plans. In this paper, we discuss a system architecture that is able to perform fault detection and error recovery in any time. The key features of the proposed system are: 1) background refreshing of task-level description, 2) constant updating of geometric representation,...
This paper describes a software system integration of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on. Recognition and motion generation functions needed to perform daily assistance are developed, and these functions are used to design various behaviors involved in daily assistance. In our approach, the robot behaviours are divided into simple units which...
In this paper, we treat with wheelchair support by a life-sized humanoid robot. It is quite essential to integrate whole-body motion, recognition of environment and human-interface behind the user in order to achieve this task. Contributions of this paper is whole-body control including pushing motion using the offset of the ZMP and observation of the attitude outlier, recognition of the wheelchair...
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