2A2-C23 人間形ハンド・アームによる道具の微細操作に関する研究 : 受動柔軟性を活用した動作計画及び把持・作用力・軌道制御

概要

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Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion planning method with the active body-environment contact. Based on the consideration about the positive and the negative effects of mechanical passive elements implemented in joints, our motion planning method can let the hand-arm system establish the active BE contact at the appropriate body-site and select joints which make the movement for the task execution. We also construct the control algorithms for the tool manipulation to write with a pen like human. We validated our motion planning method through actual experiments on a prototype of human-symbiotic humanoid robot.