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JRM Vol.20 No.2 pp. 241-249
doi: 10.20965/jrm.2008.p0241
(2008)

Paper:

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:
Tomoaki Yoshikai, Takashi Sagisaka, Marika Hayashi, and
and Masayuki 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.
Data files:
References
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