TY - GEN
T1 - Humanoid robot motion generation for nailing task
AU - Tsujita, Teppei
AU - Konno, Atsushi
AU - Komizunai, Shunsuke
AU - Nomura, Yuki
AU - Owa, Takuya
AU - Myojin, Tomoya
AU - Ayaz, Yasar
AU - Uchiyama, Masaru
PY - 2008/9/30
Y1 - 2008/9/30
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=52449090436&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449090436&partnerID=8YFLogxK
U2 - 10.1109/AIM.2008.4601802
DO - 10.1109/AIM.2008.4601802
M3 - Conference contribution
AN - SCOPUS:52449090436
SN - 9781424424955
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1024
EP - 1029
BT - Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
T2 - 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Y2 - 2 August 2008 through 5 August 2008
ER -