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In this paper, we introduce the achievement of the aerial manipulation by using the whole body of a transformable aerial robot, instead of attaching an additional manipulator. The aerial robot in our work is composed by two-dimensional multilinks which enable a stable aerial transformation and can be employed as an entire gripper. We propose a planning method to find the optimized grasping form for...
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)...
In order for a humanoid robot to achieve higher physical performance, it is important to generate dynamic whole-body motion under the constraints of physical limitations and dynamic balance. In this paper, we propose the method for generating dynamic whole-body motion such as sports motion based on optimization techniques. Taking a tennis forehand swing as an example of dynamic motion, we aim to increase...
For generating motions of robots, global search in configuration space is time consuming although it is sometimes indispensable (e.g. collision avoidance in complex environment). Our idea is to use global sampling algorithm not in the state space but in the task nullspace, which is the redundant degrees of freedom of the state space with respect to the task space. Because the task nullspace is smaller...
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 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...
This paper presents the development of life-sized high-power humanoid robot JAXON. Humanoid robots for disaster relief assistance need the same degree of physical performance as humans. We have developed STARO as the high-power humanoid robot with a high degree of physical performance. However this is not enough for practical use of the humanoid robot in a disaster site. We consider the following...
For generating whole-body behavior involving contacts with environments such as climbing ladder behavior or walking on terrain behavior, “contact-before-motion” approach was used in some previous researches. By separating contact search process and motion search process, whole-body behavior generation was achieved. However, in previous researches, there were few examinations about contact transition...
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...
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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