Development of Humanoid Research Platform and Realization of Reactive Whole-body Motion

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Main research results can be classified under three topics a) Development of humanoid hardware platform, b) Development of humanoid control software for whole-body motion on the real-time operation system, and c) realization of whole-body motions.a)Development of Humanoid Hardware6-axis force sensor for measuring grand reaction force, toe joint modules suitable for whole-body motion, head system with high speed stereo camera that is designed for recognizing the 3D shape of the environment, and hands that are suitable for both whole-body motion and carrying various objects are developed. Using with previously developed robot system, humanoid robot platform suitable for whole-body motion research is constructed.b)Development of humanoid control softwareControlling system that allows many control loop run in different cycle concurrently is developed on the real time operation system. Inverse dynamics library with humanoid model, walking control system that realizes desired walking direction and upper body postures given online, self-collision checker, model-based balance keeping software for whole-body motion, and realtime 3D vision software for recognizing the shape of the environment.b)Realization of whole body motionAutonomous walking control system using motion planning technique in the complex real world is constructed and tested. Especially, locomotive motions using whole-body are developed for passing narrow space. Those motions are tested with vision system to construct autonomous behaviors. Moreover, motion of climbing up a ladder and lifting and carrying a big box are realized as examples of motions in which many part of the body is cooperatively utilized.