Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh

Tomoaki Yoshikai; Takashi Sagisaka; Marika Hayashi; Masayuki Inaba

doi:10.20965/jrm.2008.p0241

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JRM Vol.20 No.2 pp. 241-249

doi: 10.20965/jrm.2008.p0241

(2008)

Paper:

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Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh

Tomoaki Yoshikai, Takashi Sagisaka, Marika Hayashi,
and Masayuki Inaba

Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:

September 28, 2007

Accepted:

December 29, 2007

Published:

April 20, 2008

Keywords:

acquisition of rolling-over motion, sensory-motor mutual interaction, soft sensor flesh, distributed 3-axes force sensors, humanoid

Abstract

Behavior design with rich sensor information is very important in realizing close interaction using whole-body contact. Our research target is to construct behavior design method taking into account the mutual interaction between a robot’s tactile sensor information and its motion trajectories. In this paper, a behavior acquisition framework using an evolutionary technique is constructed based on a dynamics simulation model including the emulation of tactile sensing. Furthermore, acquired rolling-over motions are tested using an actual humanoid “macra” with soft sensor flesh, and the results are analyzed and discussed for confirming the feasibility of our proposed system.

Cite this article as:

T. Yoshikai, T. Sagisaka, M. Hayashi, and M. Inaba, “Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh,” J. Robot. Mechatron., Vol.20 No.2, pp. 241-249, 2008.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Inaba, Y. Hoshino, K. Nagasaka, T. Ninomiya, S. Kagami, and H. Inoue, “A Full-Body Tactile Sensor Suit Using Electrically Conductive Fabric and Strings,” In Proc. of IEEE/RSJ 1996 Int. Conf. on Intelligent Robots and Systems, pp. 450-457, 1996.

[2] [2] T. Miyashita, T. Tajika, K. Shinozawa, H. Ishiguro, K. Kogure, and N. Hagita, “Human Position and Posture Detection based on Tactile Information of the Whole Body,” In Proc. of IEEE/RSJ 2004 Int. Conf. on Intelligent Robots and SystemsWorkshop (IROS’04 WS), 2004.

[3] [3] T. Odashima, M. Onishi, K. Tahara, K. Takagi, F. Asano, Y. Kato, H. Nakashima, Y. Kobayashi, T. Mukai, Z. W. Luo, and S. Hosoe, “A Soft Human-Interactive Robot RI-MAN,” In Proc. of the 2006 IEEE Int. Conf. on Intelligent Robots and Systems (Video), 2006.

[4] [4] Y. Ohmura, Y. Kuniyoshi, and A. Nagakubo, “Conformable and Scalable Tactile Sensor Skin for Curved Surfaces,” In Proc. of the 2006 IEEE Int. Conf. on Robotics & Automation, pp. 1348-1353, 2006.

[5] [5] Y. Hoshino, M. Inaba, and H. Inoue, “Model and Processing of Whole-body Tactile Sensor Suit for Human-Robot Contact Interaction,” In Proc. of the 1998 IEEE Int. Conf. on Robotics & Automation, pp. 2281-2286, 1998.

[6] [6] T. Ogata, H. Ohba, K. Komatani, J. Tani, and H. G. Okuno, “Extracting Mult-Modal Dynamics of Objects using RNNPB,” In Proc. of IEEE/RSJ 2005 Int. Conf. on Intelligent Robots and Systems, pp. 160-165, 2005.

[7] [7] M. Inaba, F. Kanehiro, S. Kagami, and H. Inoue, “Two-Armed Bipedal Robot that can Walk, Roll Over and Stand up,” In Proc. of IEEE/RSJ 1995 Int. Conf. on Intelligent Robots and Systems, pp. 297-302, 1995.

[8] [8] S. Nolfi, “Adaptation as a More Powerful Tool than Decomposition and Integration: Experimental Evidences from Evolutionally Robotics,” In Proc. of the IEEE Int. Conf. on Fuzzy Systems, pp. 141-146, 1998.

[9] [9] M. Hayashi, T. Sagisaka, Y. Ishizaka, T. Yoshikai, and M. Inaba, “Development of Functional Whole-Body Flesh with Distributed 3-axis Force Sensors for a Humanoid to Have Close Interaction,” In Proc. of IEEE/RSJ 2007 Int. Conf. on Intelligent Robots and Systems, 2007.

[10] [10] T. Ogura, K. Okada, and M. Inaba, “Realization of Dynamics Simulator Embedded Robot Brain for Humanoid Robots,” In Proc. of the 2007 IEEE Int. Conf. on Robotics & Automation, 2007.

Acquisition and Realization of a Rolling-Over Motion for a Humanoid with Soft Sensor Flesh

Tomoaki Yoshikai, Takashi Sagisaka, Marika Hayashi, and Masayuki Inaba

Tomoaki Yoshikai, Takashi Sagisaka, Marika Hayashi,
and Masayuki Inaba