Tool force adaptation in soil-digging task for humanoid robot

Shintaro Komatsu, Youhei Kakiuchi, Shunichi Nozawa, Yuta Kojio, Fumihito Sugai, K. Okada, M. Inaba
{"title":"Tool force adaptation in soil-digging task for humanoid robot","authors":"Shintaro Komatsu, Youhei Kakiuchi, Shunichi Nozawa, Yuta Kojio, Fumihito Sugai, K. Okada, M. Inaba","doi":"10.1109/HUMANOIDS.2017.8246901","DOIUrl":null,"url":null,"abstract":"Simultaneous control of position and force of robots is one of the difficult and important problems in the field of robotics. Even if we can get a desirable positional trajectory of robots' end effectors or tools that they use, it is not easy to know how much force we should apply in order to execute planned tasks. We propose a method that enables robots to exert the required force to successfully carry out tasks. In this paper, we introduce a method to realize online updating of the force applied to the environment through tools and modification of Center of Gravity (CoG) based on the reference force. The update direction of the force is set in advance considering the interaction between tools and environment. We take manipulation of a shovel as an example. To verify the effect of our method, a humanoid robot JAXON demonstrates the soil-digging task under various conditions.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246901","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

Abstract

Simultaneous control of position and force of robots is one of the difficult and important problems in the field of robotics. Even if we can get a desirable positional trajectory of robots' end effectors or tools that they use, it is not easy to know how much force we should apply in order to execute planned tasks. We propose a method that enables robots to exert the required force to successfully carry out tasks. In this paper, we introduce a method to realize online updating of the force applied to the environment through tools and modification of Center of Gravity (CoG) based on the reference force. The update direction of the force is set in advance considering the interaction between tools and environment. We take manipulation of a shovel as an example. To verify the effect of our method, a humanoid robot JAXON demonstrates the soil-digging task under various conditions.
仿人机器人挖土作业中刀具力的自适应
机器人的位置和力的同步控制是机器人领域的难点和重点问题之一。即使我们可以得到机器人末端执行器或它们使用的工具的理想位置轨迹,也不容易知道我们应该施加多大的力来执行计划的任务。我们提出了一种方法,使机器人能够施加所需的力来成功地完成任务。本文介绍了一种基于参考力,通过工具和重心(CoG)的修改来实现对施加于环境的力的在线更新的方法。考虑工具与环境的相互作用,预先确定了力的更新方向。我们以操纵铲子为例。为了验证我们的方法的效果,一个人形机器人JAXON演示了各种条件下的挖土任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信