Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

被引：2

作者：

Sugaiwa, Taisuke ^{[1
]}

Yamaguchi, Yasumasa ^{[1
]}

Iwata, Hiroyasu ^{[2
]}

Sugano, Shigeki ^{[3
]}

机构：

[1] Waseda Univ, Grad Sch Creat Sci & Engn, Shinjuku Ku, 41-204B Room,Kikuicho 17, Tokyo 1620044, Japan

[2] Waseda Univ, WIAS, Tokyo 1620044, Japan

[3] Waseda Univ, Sch Creat Sci & Engn, Dept Modern Mech Engn, Tokyo 1620044, Japan

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

基金：

日本学术振兴会;

关键词：

Active Body-Environment Contact; Stable Object Manipulation; Coordinated Motion of Hand and Arm; Motion Control Scheme;

D O I：

10.1109/IROS.2009.5354212

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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 control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.

引用

页码：4168 / +

页数：2

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