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

Paper:

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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
Creative Commons License
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:
S. Nozawa, R. Ueda, Y. Kakiuchi, K. Okada, and M. 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.
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