Humanoid robot motion generation for nailing task
Humanoid robot motion generation for nailing task
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DOI：
10.1109/aim.2008.4601802
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发表时间：
2008-07
期刊：
影响因子：
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通讯作者：
T. Tsujita;A. Konno;S. Komizunai;Y. Nomura;T. Owa;T. Myojin;Y. Ayaz;M. Uchiyama
中科院分区：
文献类型：
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作者：
T. Tsujita;A. Konno;S. Komizunai;Y. Nomura;T. Owa;T. Myojin;Y. Ayaz;M. Uchiyama
为了对环境施加很大的力，施加冲击力是有效的。我们把通过施加脉冲力来完成任务的运动描述为冲击运动。在本研究中，以钉钉作业为例进行冲击运动。本文提出了一种用于仿人机器人施加较大力的冲击运动的产生方法和稳健打钉的反馈控制方法。为了验证所提方案的有效性，使用真人大小的仿人机器人HRP-2进行了实验。将该方法生成的钉子运动与人工启发式设计的钉子运动进行了比较。该方法明显增加了掘进深度。
In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as ldquoimpact motionrdquo. In this research, a nailing task is taken as an example of impact motion. This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. In order to validate the proposed scheme, experiments are carried out using life-sized humanoid robot HRP-2. The motion for nailing task generated by the proposed method is compared with the motion designed heuristically by a human. The driving depth is clearly increased by the proposed method.