ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-C19
会議情報
2P1-C19 筋骨格ヒューマノイドの張力制御を利用した姿勢教示による物体拘束の獲得
白井 拓磨小林 巧実本郷 一生中西 雄飛水内 郁夫岡田 慧稲葉 雅幸
著者情報
会議録・要旨集 フリー

詳細
抄録
Musculo-Skeletal Humanoid has a humanlike articular structure body and redundant actuators. Musculo-Skeletal Humanoid has advantage in touching objects by controlling its tendon tension flexibly. However, its own complex body structure makes it difficult to adjust humanoid's inner coordinate to real world coordinate. To solve the issue, we focused attention on the motion when human touch or trace objects. We apply a restrain condition estimation method using the musculo-skeletal humanoid's tension control to realize operating target objects. The aim of this paper is to show that Musculo-Skeletal Humanoid can generate motions associated with touching unknown objects by being taught poses.
著者関連情報
© 2010 一般社団法人 日本機械学会
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