2A2-C23 Fine Tool Manipulation by Human-Mimetic Hand-Arm System : Motion Planning Method and Grasp/Contact Force/Trajectory Control utilizing Passivity

Abstract

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion planning method with the active body-environment contact. Based on the consideration about the positive and the negative effects of mechanical passive elements implemented in joints, our motion planning method can let the hand-arm system establish the active BE contact at the appropriate body-site and select joints which make the movement for the task execution. We also construct the control algorithms for the tool manipulation to write with a pen like human. We validated our motion planning method through actual experiments on a prototype of human-symbiotic humanoid robot.