Dexterous hand-arm coordinated manipulation using active body-environment contact

Taisuke Sugaiwa; Yasumasa Yamaguchi; Hiroyasu Iwata; Shigeki Sugano

doi:10.1109/IROS.2009.5354212

Dexterous hand-arm coordinated manipulation using active body-environment contact

Taisuke Sugaiwa^*, Yasumasa Yamaguchi, 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

3 Citations (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	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	4168-4173
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354212
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 2009 Oct 11 → 2009 Oct 15

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	09/10/11 → 09/10/15

Keywords

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

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5354212

Cite this

Sugaiwa, T., Yamaguchi, Y., Iwata, H., & Sugano, S. (2009). Dexterous hand-arm coordinated manipulation using active body-environment contact. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4168-4173). Article 5354212 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354212

Dexterous hand-arm coordinated manipulation using active body-environment contact. / Sugaiwa, Taisuke; Yamaguchi, Yasumasa; Iwata, Hiroyasu et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4168-4173 5354212 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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

Sugaiwa, T, Yamaguchi, Y, Iwata, H & Sugano, S 2009, Dexterous hand-arm coordinated manipulation using active body-environment contact. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354212, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4168-4173, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5354212

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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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Dexterous hand-arm coordinated manipulation using active body-environment contact

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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