等身大ヒューマノイドロボットによる双腕を用いた柔軟物体巻取り動作に関する研究

抄録

This paper shows a strategy for achieving winding cable with a life-sized humanoid robot. In order to attain the motion, the robot should use dual arms. In addition, the robot should avoid self collision. We propose a approach of generating motions for cable winding.