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Whole-body manipulation is necessary for a humanoid robot to achieve tasks such as carrying large objects. One difficulty for achieving a whole-body manipulation is that the robot needs to select the appropriate operation from a list of candidates, such as lifting, pushing, and tilting. The appropriate operation depends upon the target object's physical properties, including its mass, center of mass,...
The work described in this paper is focused on the reduction of the impact force exerted by the ground on a falling humanoid robot. It proposes the use of variable stiffness to prevent the motors from damaging when falling is inevitable and the only possible strategy is the protection of the robot using its arms. A fuzzy system is used to estimate the low motor stiffness required to reduce the impact...
Pushing heavy and large objects in a plane requires generating correct operational forces that compensate for unpredictable ground-object friction forces. This is a challenge because the reaction forces from the heavy object can easily cause a humanoid robot to slip at its feet or lose balance and fall down. Although previous research has addressed humanoid robot balancing problems to prevent falling...
This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist...
This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A...
In this paper we propose a new method to manipulate heavy objects for a humanoid robot. In this method the manipulation strategy is determined based on on-line estimation of the operational force. We integrate these functions with a real-time controller that controls the external force and maintains full-body balance. The feature point of our work is that since a full-body control system includes...
This paper presents a system for capturing human movement and tactile data and methods for analyzing this data. We cannot fully capture the essence of motion without tactile information, and sometimes the lack of such information causes critical problems. To achieve a better understanding of motion behavior, we developed a wearable motion capture suit with full-body tactile sensors. We also developed...
Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation...
Generally, in order to detect a direction of soundsource using only 2 microphones, we use TDOA (time delay of arrival) value of relative signals that exist between each wave received to microphones. But this method has a problem in the area which is called cone of confusion, in three dimensional space that would produce the same ITDs and ILDs. So we can't tell the correct front/back direction. In...
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