力制御型マニピュレーションに基づくヒューマノイドロボットの実時間歩容計画(機械力学,計測,自動制御)

概要

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This paper proposes a method for planning the gait of a humanoid robot in real-time for the force controlled manipulation. Focusing on the task of pushing an object, a humanoid robot changes the foot placement in real-time according to the amount of pushing an object. By using this algorithm, a humanoid robot can push an object stably regardless of the mass of an object. If an object is heavy, a humanoid robot pushes an object with walking slowly, and vice versa. Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment.
社団法人日本機械学会の論文
2005-11-25