2A1-D13 人間型ロボットによる環境変化に応じた作業空間の構築と動作計画(ヒューマノイド)

概要

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This paper describes a new method of selfmodeling based on active acquisition of operating ranges for a humanoid robot. This approach takes insights from pain perception, which is regarded as the function of self-preservation in nature. The anthropomorphic humanoid robot determines the operating ranges of joint actuators and the workspace by its own active behavior. In addition, the robot is thus operated to protect the joint actuators with the irregular contact detection algorithm. We also discuss that the developed robot is robust for dynamical change of the surrounding environment. The path planning in joint angle space for 5 DOFs arm is examined by utilizing the proposed method and Rapidly-Exploring Trees (RRTs). We conduct several experiments in a real environment in order to verify the advantage of the proposed approach.
2008-06-06