2009 Volume 2 Issue 6 Pages 348-356
Human-symbiotic humanoid robots that can perform tasks dexterously with their hands are needed in our homes, welfare facilities, and other places. To improve their performance of tasks, we propose a scheme of controlling motion aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identify an active body-environment contact as a kind of human manual skills and devise a motion control scheme based on it. We also analyze the effectiveness of the combination of the active body-environment contact and our proposed scheme in example tasks of the adding/removing constraint task. We validate our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.