Dexterous Whole-boby Manipulation of Humanoid robot

在本年度，我们的目标是实现与人形机器人动态举起重物的运动。升降运动的关键问题是如何减少负载的仿人手臂中，低功率执行机构的实施。众所周知，使用臂的奇异姿态来避免臂的致动器饱和。我们首先发展的方法，选择初始和最终的静态稳定状态的运动。这两种状态都是通过对低功率的肢体采取奇异姿态，对高功率的肢体采取高可操作性姿态来获得的。因此，我们解决如何移动的对象从初始状态到最终通过不稳定的区域，在该区域中的机器人不能保持对象静态由于饱和的致动器。为了产生动态升降运动，我们提出了一个基于优化方法的运动规划器，更好地利用执行器的特性。在优化过程中，以执行器的输出极限为约束条件，以执行器的能量消耗最小为目标，并以零力矩点为稳定点。通过结合两种不同的类人的运动，如加速一个对象向上和滑动的身体到下的对象，我们表明，该方法能够过渡到另一个奇异的姿态的武器，而解除对象。我们验证了所提出的方法的有效性，通过仿真和实验使用的人形机器人HRP-2开发的川田工业公司，以减少对手臂的负载。我们确认，一个重物的重量超过40百分之机器人的重量可以在5秒内解除机器人的头部以上。部分成果已在全国会议和国际会议上介绍。

In this fiscal year, our goal is to realize a motion of lifting a heavy object dynamically with the humanoid robot. Key issue of lifting motion is how to reduce the load on humanoid arms in which lowed power actuators are implemented. The use of singular postures of arms is well-known to avoid actuator saturation of the arms. We firstly develop the method of selecting initial and final statically stable states of the motion. Both states are obtained by taking singular posture for low powered limbs, and high-manipulability posture for high powered ones. We thus address how to move the object from initial sate to final one passing through the unstable area in which the robot cannot hold the object statically due to saturation of the actuators. To generate the dynamic lifting motion, we propose a motion planner based on an optimization method with making better use of actuator's characteristics. In the optimization, the energy consumption of the actuators is minimized under constraints of the output limit of actuators, and stability based on the zero moment point(ZMP). By combining two different kinds of humanoid's motions such as accelerating an object upward and sliding the body into under the object, we show that the method enables to transit one singular posture of arms to another while lifting the object. We verify the effectiveness of the proposed method for reducing the load on the arms through simulation and experiments using the humanoid robot HRP-2 developed by Kawada Industries Inc. We confirm that a heavy object whose weight is more than forty percents of that of the robot can be lifted above the head of the robot within five seconds. A part of the results are presented in the National conference, and the International conference.