The interactive motion control for a small humanoid robot

被引：0
|
作者：
Moridaira, T [1 ]
Miyamoto, A [1 ]
Shimizu, S [1 ]
Kawanami, Y [1 ]
Nagasaka, K [1 ]
Kuroki, Y [1 ]
机构：
[1] Sony Corp, Mot Dynam Res Lab, Informat Technol Labs, Shinagawa Ku, Tokyo 1410001, Japan
来源：
2005 5TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS | 2005年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 refined 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 SDR-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 the physically interactive capabilities by human and SDR-4X III, we proposed and demonstrated the hand-guided interaction by human manipulation and interactive performance through the physical interface of the holding object under the both limbs' coordinated motion control of SDR-4X III.
引用
收藏
页码：463 / 468
页数：6
相关论文
共 50 条
  • [1] Motion Control of Small Humanoid Robot
    Liu, Chuan
    Qian, Ruiming
    [J]. PROCEEDINGS OF 2020 IEEE 4TH INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC 2020), 2020, : 684 - 688
  • [2] Motion design of interactive small humanoid robot with visual illusion
    [J]. 1600, ICIC International (09):
  • [3] MOTION DESIGN OF INTERACTIVE SMALL HUMANOID ROBOT WITH VISUAL ILLUSION
    Sakai, Kurima
    Sumioka, Hidenobu
    Minato, Takashi
    Nishio, Shuichi
    Ishiguro, Hiroshi
    [J]. INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2013, 9 (12): : 4725 - 4736
  • [4] Omnidirectional Motion Control for the Humanoid Soccer Robot
    Gao, Zhechao
    Wu, Jia
    Chen, Hongwu
    Pan, Bowen
    Zheng, Hao
    Liang, Dingwen
    Liu, Xiaoming
    [J]. COMPUTATIONAL INTELLIGENCE AND INTELLIGENT SYSTEMS, 2009, 51 : 1 - 8
  • [5] Adapting human motion for the control of a humanoid robot
    Pollard, NS
    Hodgins, JK
    Riley, MJ
    Atkeson, CG
    [J]. 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 1390 - 1397
  • [6] CONTROL OF A HUMANOID ROBOT USING MOTION RETARGETING
    Medina Lee, Juan Felipe
    Capacho Valbuena, Luis Miguel
    [J]. REVISTA DE INVESTIGACIONES-UNIVERSIDAD DEL QUINDIO, 2015, 27 (01): : 23 - 28
  • [7] Interactive Programming of a Mechatronic System: A Small Humanoid Robot Example
    Wasielica, Mikolaj
    Wasik, Marek
    Kasinski, Andrzej
    Skrzypczynski, Piotr
    [J]. 2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, 2013, : 459 - 464
  • [8] Motion Planning and Control of Interactive Humanoid Robotic Arms
    Kuo, Chung-Hsien
    Lai, Yu-Wei
    Chiu, Kuo-Wei
    Lee, Shih-Tseng
    [J]. 2008 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS, 2008, : 167 - +
  • [9] Control of Percussion Motion by Sound Feedback with a Humanoid Robot
    Aoyama, Eiichi
    Hirogaki, Toshiki
    Kiuchi, Hirohumi
    Sugiura, Yoshihisa
    [J]. EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV, 2012, 523-524 : 699 - 704
  • [10] Motion control simulation based on VR for humanoid robot
    He, Huaiqing
    Tang, Haoxuan
    [J]. Proc SPIE Int Soc Opt Eng, (318-321):
12345