Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks
Development of Amphibious Humanoid Platform for Sensor-based Behavior Acquisition of Whole-body Manipulation Tasks
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DOI：
10.1109/humanoids53995.2022.10000091
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发表时间：
2022-11
期刊：
影响因子：
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通讯作者：
Tasuku Makabe;J. Oh;T. Anzai;Yuta Kojio;Shintaro Noda;Youhei Kakiuchi;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Tasuku Makabe;J. Oh;T. Anzai;Yuta Kojio;Shintaro Noda;Youhei Kakiuchi;K. Okada;M. Inaba
为了建立一个软件平台，研究可以在多种环境中操作的机器人的控制和仿真方法，我们需要一个机器人平台，我们可以使用它来验证在真实的不同环境中的行为，如陆地和水。尽管机器人在不同的环境中工作和移动需要很大的自由度和感知力，但适应的环境越具有挑战性，例如水下或外太空，我们可以为环境带来的资源就越有限。在这项研究中，我们提出了一个人形机器人系统，我们可以用来研究收购的全身操作任务的传感器信息的基础上，在水中，以及在陆地上，通过构建人形的力量，视觉和姿势的感知和多个自由度，可以使用它的四肢在各种方式，如步行，游泳，工作取决于条件。作为基于传感器的全身操作任务的例子，我们进行了行走实验，携带箱子的实验，基于远程控制的擦拭实验，以及在水面上进行物体跟踪的游泳实验。我们讨论了水下环境的影响，比较了陆地和水下环境之间的实验结果，并表明，我们可以使用所提出的机器人系统来研究在多种条件下的全身操作运动的采集。
To build a software platform for research on control and simulation methods for robots that can operate in multiple environments, we need a robot platform that we can use to verify behavior in real diverse surroundings such as land and water. Even though robots need much freedom and perception to work and move around in diverse environments, the more challenging the environment to adapt to, such as underwater or outer space, the more limited the resources we can bring to the environment. In this study, we propose a humanoid robot system that we can use to study the acquisition of whole-body manipulation tasks based on sensor information in water as well as on land by constructing the humanoid with force, vision, and posture perception and multiple degrees of freedom that can use its limbs in various ways such as walking, swimming, and working depending on the condition. As examples of sensor-based whole-body manipulation tasks, we conducted walking experiments, box carrying experiments, remote-control-based wiping experiments in the water, and swimming experiments with object tracking on the water's surface. We discussed the effects of the underwater environment, compared the experimental results between the land and underwater environments, and showed that we could use the proposed robot system to study the acquisition of whole-body manipulation movements in multiple conditions.