Title :
The interactive motion control for a small humanoid robot
Author :
Moridaira, Tomohisa ; Miyamoto, Atsushi ; Shimizu, Satoru ; Kawanami, Yasunori ; Nagasaka, Ken´ichiro ; Kuroki, Yoshihiro
Author_Institution :
Inf. Technol. Lab., Sony Corp., Tokyo
Abstract :
We have been developing a small biped entertainment robot and expanding its capabilities for the adaptability and interactivity with human in home environment. SDR-4X III is the refused and enhanced model that has capabilities by adaptive functions for physical interaction with human. We proposed the creative motion planning framework, the motion planning system for SBR-4X III to enable adaptive drawing performance in 3D world. It is realized by the motion control under kinematic constraints and the position-based impedance control. In order to explore and evaluate she physically interactive capabilities by human and SDR-4X III, we proposed and demonstrated the handguided interaction by human manipulation and interactive performance through the physical interface of the holding object under she both limbs´ coordinated motion control of SDR-4X III
Keywords :
humanoid robots; legged locomotion; mechanical variables control; motion control; path planning; position control; user interfaces; SDR-4X III; adaptive drawing; adaptive functions; biped entertainment robot; humanoid robot; interactive motion control; kinematic constraints; motion planning system; position-based impedance control; Character generation; Human robot interaction; Humanoid robots; Impedance; Joints; Leg; Legged locomotion; Motion control; Motion planning; Robot kinematics;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573610
