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 proceedingConference 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 languageEnglish
    Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
    Pages1024-1029
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Sep 30
    Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
    Duration: 2008 Aug 22008 Aug 5

    Publication series

    NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

    Other

    Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
    CountryChina
    CityXi'an
    Period08/8/208/8/5

    ASJC Scopus subject areas

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

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