ヒューマノイドによる瓦礫除去作業における動作計画のための制約条件の逐次的生成

抄録

Humanoid robots are expected to be work in complex and dangerous disaster sites, because they are capable of performing more complex manipulation tasks than other disaster response robots. This study tackled motion generation in debris removal work by humanoid robots. In debris removal work, it is a problem that some contact states of target objects are not only unknown but also easy to change. In this study, we addressed the problem of uncertainty and variability by sequentially estimating unknown contact states of target objects. In addition, we monitor the grasping state in hands using multiple sensors, generate contact constraints and modify robot motion. This enables the robot to detect failure and to compensate for the uncertainty of the estimated contact state. In our experiments, we demonstrated that the combination of monitoring the grasping state of debris and regrasping it as recovery motion was effective to prevent debris from sliding down and execute a robust debris removal work.