日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
等身大ヒューマノイドにおける接触姿勢計画と歩行動作修正に基づく大型重量物全身押し操作行動の実現
室岡 雅樹小椎尾 侑多野沢 峻一垣内 洋平岡田 慧稲葉 雅幸
著者情報
ジャーナル フリー
電子付録

2016 年 34 巻 7 号 p. 448-457

詳細
抄録

Humanoid robot has high degree-of-freedom around the whole-body and is expected to achieve the various types of manipulation. Pushing manipulation contacting with whole-body region tends to be effective in terms of whole-body joint torque. In this paper, we propose the whole-body posture generation method and the balancing control method in order to achieve whole-body pushing manipulation. The whole-body contact posture is generated by applying the geometric collision detection and the balancing modification to the random-based posture. The walking motion is stabilized by the footstep modification based on capture point. The effectiveness of the proposed methods are verified by the experiment, in which the life-sized humanoid robot carries the object by pushing with whole-body region in the real and simulation environment.

著者関連情報
© 2016 日本ロボット学会
前の記事 次の記事
feedback
Top