Humanoid robot motion generation for nailing task

Teppei Tsujita; Atsushi Konno; Shunsuke Komizunai; Yuki Nomura; Takuya Owa; Tomoya Myojin; Yasar Ayaz; Masaru Uchiyama

doi:10.1109/AIM.2008.4601802

Humanoid robot motion generation for nailing task

Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." In this research, a nailing task is taken as an example of impact motion. This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. In order to validate the proposed scheme, experiments are carried out using life-sized humanoid robot HRP-2. The motion for nailing task generated by the proposed method is compared with the motion designed heuristically by a human. The driving depth is clearly increased by the proposed method.

Original language	English
Title of host publication	Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages	1024-1029
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2008.4601802
Publication status	Published - 2008 Sep 30
Event	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China Duration: 2008 Aug 2 → 2008 Aug 5

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Country	China
City	Xi'an
Period	08/8/2 → 08/8/5

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

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Tsujita, T., Konno, A., Komizunai, S., Nomura, Y., Owa, T., Myojin, T., Ayaz, Y., & Uchiyama, M. (2008). Humanoid robot motion generation for nailing task. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 1024-1029). [4601802] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601802

Humanoid robot motion generation for nailing task. / Tsujita, Teppei; Konno, Atsushi; Komizunai, Shunsuke; Nomura, Yuki; Owa, Takuya; Myojin, Tomoya; Ayaz, Yasar; Uchiyama, Masaru.

Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008. 2008. p. 1024-1029 4601802 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsujita, T, Konno, A, Komizunai, S, Nomura, Y, Owa, T, Myojin, T, Ayaz, Y & Uchiyama, M 2008, Humanoid robot motion generation for nailing task. in Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008., 4601802, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1024-1029, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008, Xi'an, China, 08/8/2. https://doi.org/10.1109/AIM.2008.4601802

Tsujita T, Konno A, Komizunai S, Nomura Y, Owa T, Myojin T et al. Humanoid robot motion generation for nailing task. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008. 2008. p. 1024-1029. 4601802. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601802

Tsujita, Teppei ; Konno, Atsushi ; Komizunai, Shunsuke ; Nomura, Yuki ; Owa, Takuya ; Myojin, Tomoya ; Ayaz, Yasar ; Uchiyama, Masaru. / Humanoid robot motion generation for nailing task. Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008. 2008. pp. 1024-1029 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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AU - Owa, Takuya

AU - Myojin, Tomoya

AU - Ayaz, Yasar

AU - Uchiyama, Masaru

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Humanoid robot motion generation for nailing task

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