Developmental Approach in Configuring Body and Behavior of Life-size Humanoids with Whole-body Passivity and Attention Inductivity

具有全身被动性和注意力诱导性的真人大小的类人生物的身体和行为配置发展方法

• 批准号: 21220004
• 负责人: INABA Masayuki
• 金额: $ 157.41万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (S)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009-05-11 至 2014-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21220004/
• 关键词: ヒューマノイド; 全身受動性; 注意誘導; 発展的構成法; ロボットシステム; 筋骨格剛性可変腱駆動; 感覚行動統合; ロボット体内自律反応系; 注意誘導性

In this research, we reveal design methodology of humanoid robot which can contact with human and have attention inductivity for human interaction. This design methodology based on hybrid type of conventional joint-driven humanoids and musculoskeletal tendon-driven ones. From hardware point of view, variable stiffness joint, whole-body flesh, energy-absorbing cover, and hardware level reaction during power failure or emergency stop were investigated and validated with real robots. From software point of view, accumulation of task knowledge by paying attention to environment and human, reaction of robot when interrupted by human were investigated and validated with an actual robot system.These results provide important basis of both hardware and software for daily assistive humanoids which can assist human and learn from human in daily environment.

本研究揭示了一种能与人接触并具有注意诱导能力的仿人机器人的设计方法。这种设计方法基于传统关节驱动的人形机器人和肌肉骨骼肌腱驱动的混合型。从硬件的角度，研究了变刚度关节、全身肌肉、吸能罩以及断电或紧急停止时硬件级的反应，并用真实的机器人进行了验证。从软件的角度，研究了通过关注环境和人来积累任务知识，以及机器人在人的干扰下的反应，并通过实际机器人系统进行了验证，这些结果为日常辅助类人在日常环境中帮助人类并向人类学习提供了重要的硬件和软件依据。

项目成果

Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator

• DOI: 10.1109/humanoids.2012.6651491
• 发表时间: 2012-11
• 期刊: 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
• 作者: Y. Nakanishi;Yuki Asano;Toyotaka Kozuki;H. Mizoguchi;Yotaro Motegi;M. Osada;Takuma Shirai;Junichi Urata-Ju

Motion generation of redundant musculoskeletal humanoid based on robot-model error compensation by muscle load sharing and interactive control device

• DOI: 10.1109/humanoids.2013.7029996
• 发表时间: 2013-10
• 期刊: 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
• 作者: Yuki Asano;Takuma Shirai;Toyotaka Kozuki;Yotaro Motegi;Y. Nakanishi;K. Okada;M. Inaba

A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight

• DOI: 10.1109/iros.2010.5651652
• 发表时间: 2010-12
• 期刊: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Shunichi Nozawa;Ryohei Ueda;Youhei Kakiuchi;K. Okada;M. Inaba

頭部装着型全方位ステレオカメラによる人間行動観察システム

使用头戴式全向立体摄像头的人体行为观察系统

• 发表时间: 2011
• 作者: 矢口裕明;小島光晴;Anthony Isaac;吉海智晃;岡田慧;稲葉雅幸
• 通讯作者: 稲葉雅幸

関節負荷・可操作範囲に基づくヒューマノイドの物体操作戦略選択法

基于关节载荷和可操纵范围的仿人物体操纵策略选择方法

• 发表时间: 2011
• 作者: 野沢峻一;石田正穂;植田亮平;岡田慧;稲葉雅幸
• 通讯作者: 稲葉雅幸