single-rb.php

JRM Vol.23 No.2 pp. 239-248
doi: 10.20965/jrm.2011.p0239
(2011)

Paper:

Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot

Shunichi Nozawa, Ryohei Ueda, Yohei Kakiuchi,
Kei Okada, and Masayuki Inaba

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

Received:
September 30, 2010
Accepted:
January 16, 2011
Published:
April 20, 2011
Keywords:
humanoid robot, full-body manipulation of objects, object of unknown weight, manipulation strategy selection
Abstract

The novel method we propose involves a humanoid robot manipulating objects of varying size and weight. How an object is manipulated is generally determined by size and weight. The motion generation system we developed 1) utilizes manipulation strategies defined by which contact points on the robot are to be used, 2) selects the adequate manipulation strategy based on the object, and 3) generates a full-body posture sequence for the humanoid robot with controlled reaction forces and full-body balance using the manipulation strategy as an initial condition. Our system enables the robot to manipulate an object of weight thanks to multiple strategies. Our method’s effectiveness is confirmed in experiments in which a humanoid robot manipulates six different types of objects.

Cite this article as:
Shunichi Nozawa, Ryohei Ueda, Yohei Kakiuchi,
Kei Okada, and Masayuki Inaba, “Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot,” J. Robot. Mechatron., Vol.23, No.2, pp. 239-248, 2011.
Data files:
References
  1. [1] H. Arisumi, S.Miossec, J.-R. Chardonnet, and K. Yokoi, “Dynamic Lifting by Whole Body Motion of Humanoid Robots,” In Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’08), pp. 668-675, September 2008.
  2. [2] M. Onishi, Z. W. Luo, T. Odashima, S. Hirano, K. Tahara, and T. Mukai, “Generation of Human Care Behaviors by Human-Interactive Robot ”RI-MAN”,” In Proc. of The 2007 IEEE Int. Conf. on Robotics and Automation, pp. 126-127, April 2007.
  3. [3] N. Vahrenkamp, D. Berenson, T. Asfour, J. Kuffner, and R. Dillmann, “Humanoid motion planning for dual-arm manipulation and re-grasping tasks,” In Proc. of the 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), pp. 2464-2470, October 2009.
  4. [4] S.-H. Hyon, J. G. Hale, and G. Cheng, “Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces,” IEEE Trans. on Robotics, Vol.23, No.5, pp. 884-898, 2007.
  5. [5] P. Evrard, N. Mansard, O. Stasse, A. Kheddar, T. Schaus, C.Weber, A. Peer, and M. Buss, “Intercontinental, Multimodal, Wide-Range Tele-Cooperation Using a Humanoid Robot,” In Proc. of the 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), pp. 5635-5640, October, 2009.
  6. [6] S. Nozawa, R. Ueda, Y. Kakiuchi, K. Okada, and M. Inaba, “A Full-Body Motion Control Method for a Humanoid Robot based on On-Line Estimation of the Operational Force of an Object with an Unknown Weight,” In Proc. of the 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’10), October 2010.
  7. [7] K. Okada, T. Ogura, A. Haneda, J. Fujimoto, F. Gravot, and M. Inaba, “Humanoid Motion Generation System on HRP2-JSK for Daily Life Environment,” In Int. Conf. on Mechatronics and Automation, pp. 1772-1777, July 2005.
  8. [8] J. Park and O. Khatib, “Robust Haptic Teleoperation of a Mobile Manipulation Platform,” In Int. Symposium on Experimental robotics, pp. 543-554, June 2004.
  9. [9] H. Sugiura, M. Gienger, H. Janssen, and C. Goerick, “Real-Time Self Collision Avoidance for Humanoids by means of NullSpace Criteria and Task Intervals,” In Proc. of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 575-580, December 2006.
  10. [10] M. Gienger, H. Jansen, and C. Goeric, “Exploiting Task Intervals for Whole Body Robot Control,” In Proc. of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’06), pp. 2484-2490, 2006.
  11. [11] P. Baerlocher and R. Boulic, “Task-priority formulations for the kinematic control of highly redundant articulated structures,” In Proc. of the 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’98), pp. 323-329, December 1998.
  12. [12] W. D. Fisher and M. S. Mujtaba, “Hybrid Position/Force Control: A Correct Formulation,” The Int. J. of Robotics Research, Vol.11, No.4, pp. 299-311, 1992.
  13. [13] T. Sugihara and Y. Nakamura, “Whole-body cooperative balancing of humanoid robot using COG Jacobian,” In Proc. of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’02), Vol.3, pp. 2575-2580, 2002.
  14. [14] M. Mistry, J. Nakanishi, G. Cheng, and S. Schaal, “Inverse Kinematics with Floating Base and Constraints for Full Body Humanoid Robot Control,” In Proc. of the 2008 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 22-27, 2008.
  15. [15] M. Mistry, J. Nakanishi, and S. Schaal, “Task Space Control with Prioritization for Balance and Locomotion,” In Proc. of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’07), pp. 332-338, October 2007.
  16. [16] T. F. Chan and R. V. Dubey, “A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators,” In Robotics and Automation, IEEE Trans., pp. 286-292, April 1995.
  17. [17] S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba, and H. Inoue, “AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots,” In Robotics: The Algorithmic Perspective, Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 329-340, 2001.
  18. [18] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, “Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum,” In Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’03), pp. 1644-1650, October 2003.
  19. [19] K. Okada and M. Inaba, “A hybrid approach to practical self collision detection system of humanoid robot,” In Proc. of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’06), pp. 3952-3957, October 2009.
  20. [20] K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, “Lifting Motion of an Object by a Humanoid Robot,” In The 27th Annual Conf. of the Robotics Society of Japan, 1L17, September 2004.
  21. [21] K. Harada, S. Kajita, H. Saito, M. Morisawa, F. Kanehiro, K. Fujiwara, K. Kaneko, and H. Hirukawa, “A Humanoid Robot Carrying a Heavy Object,” In Proc. of The 2005 IEEE Int. Conf. on Robotics and Automation, pp. 1724-1729, April 2005.
  22. [22] H. Sugiura, M. Gienger, H. Janssen, and C. Goerick, “Real-time collision avoidance with whole body motion control for humanoid robots,” In Proc. of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’07), pp. 2053-2068, October 2007.
  23. [23] Y. Nakamura and H. Hanafusa, “Inverse kinematic solutions with singularity robustness for robot manipulator control,” J. of Dynamic Systems, Measurement, and Control, Vol.108, pp. 163-171, 1986.
  24. [24] J. Urata, T. Hirose, N. Yuta, Y. Nakanishi, I. Mizuuchi, and M. Inaba, “Thermal Control of Electrical Motors for High-Power Humanoid Robots,” In Proc. of the 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’08), pp. 2047-2052, September 2008.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 04, 2021