A motion control for dexterous manipulation with human mimetic hand-arm system

Taisuke Sugaiwa; Hiroyasu Iwata; Shigeki Sugano

doi:10.1109/ICHR.2009.5379511

A motion control for dexterous manipulation with human mimetic hand-arm system

Taisuke Sugaiwa^*, Hiroyasu Iwata, Shigeki Sugano

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.

Original language	English
Title of host publication	9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
Pages	653-659
Number of pages	7
DOIs	https://doi.org/10.1109/ICHR.2009.5379511
Publication status	Published - 2009 Dec 1
Event	9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris, France Duration: 2009 Dec 7 → 2009 Dec 10

Publication series

Name	9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

Conference

Conference	9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
Country/Territory	France
City	Paris
Period	09/12/7 → 09/12/10

Keywords

Active body-environment contact
Coordinated motion of hand and arm
Motion control scheme
Stable object manipulation

ASJC Scopus subject areas

Computer Science(all)

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10.1109/ICHR.2009.5379511

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A motion control for dexterous manipulation with human mimetic hand-arm system. / Sugaiwa, Taisuke; Iwata, Hiroyasu ; Sugano, Shigeki.
9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09. 2009. p. 653-659 5379511 (9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sugaiwa, T, Iwata, H & Sugano, S 2009, A motion control for dexterous manipulation with human mimetic hand-arm system. in 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09., 5379511, 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, pp. 653-659, 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, Paris, France, 09/12/7. https://doi.org/10.1109/ICHR.2009.5379511

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abstract = "Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.",

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AB - Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot.

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A motion control for dexterous manipulation with human mimetic hand-arm system

Abstract

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Keywords

ASJC Scopus subject areas

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