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

  • Authors:

  • Taisuke Sugaiwa;Yasumasa Yamaguchi;Hiroyasu Iwata;Shigeki Sugano

  • Affiliations:

  • Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan;Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan;Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan;Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Tokyo, Japan

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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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.