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
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