Humanoid motion generation system on HRP2-JSK for daily life environment

Author

Okada, Kei ; Ogura, Takashi ; Haneda, Atsushi ; Fujimoto, Junya ; Gravot, Fabien ; Inaba, Masayuki

Author_Institution

Graduate Sch. of Inf. Sci. & Technol., Tokyo Univ., Japan

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

1772

Abstract

This paper describes software system for a humanoid robot viewed from a motion generation aspect by taking kitchen helping behaviors as an example of a real world task. Our software consists of high level reasoning modules including 3D geometric model based action/motion planner and runtime modules contains 3D visual processor, force manipulation controller and walking controller. We discuss how a high level motion and action planner based motion generation functions contribute to various real world humanoid tasks and a role of perception based motion generation using a vision sensor and force sensors.

Keywords

control engineering computing; force control; humanoid robots; inference mechanisms; manipulators; mobile robots; motion control; path planning; 3D geometric model; 3D visual processor; HRP2-JSK; action planner; force manipulation controller; force sensors; humanoid robot; kitchen helping behaviors; motion generation; motion planner; reasoning modules; software system; vision sensor; walking controller; Force control; Force sensors; Humanoid robots; Legged locomotion; Motion control; Motion planning; Robot kinematics; Software systems; Solid modeling; System software;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626828

Filename

1626828