抄録
Methods for a daily assistive humanoid robot to manipulate and recognize the objects incorporating joints are presented. It is necessary for humanoid robots to use the objects incorporating joints such as some furniture and tools to provide daily assistance. We have been tried to make an integrated humanoid robots recognition and manipulation system of the objects and tools in the real world. We extend the system for the objects incorporating joints. We present three key techniques to recognize and manipulate the objects incorporating rotational and linear joints. 1) Knowledge Description for Manipulation and Recognition of these objects 2) Motion Planning Method to Manipulate them 3) Recognition Method of them Closely Related to the Manipulation Knowledge. Finally, a daily assistive task experiment in the real world using these elements is shown.
