Humanoid intelligence of whole body dynamic contact motion

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For humanoid robots to assist care-giving or rescue tasks requiring lifting of human body or large heavy items in arms, a functionality to handle objects exploiting contacts between various parts of the body and the target and environmental objects is essential. However, this functionality has been largely unexplored in past robotics. In this research, a novel flexible distributed tactile sensor system is developed which is installed to cover the entire surface of a humanoid robot. Human skill measurements and modeling is also carried out. Based on these, a method of controlling the whole body contact motion exploiting tactile sensors is developed. World's first experiments on lifting in arms a 30kg box and moving a 66kg dummy human body on bed are successfully carried out. The above research established the foundation of the new field of dynamic whole body contact actions.