Masaki Murooka, Youhei Kakiuchi, K. Okada, M. Inaba
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Whole-Body Posture Evaluation and Modification for Crane-Less Servo-Off Operation of Life-Sized Humanoid Robot
In order to make humanoid robots work in the real world, it is necessary to construct a robot system that can be operated without any crane support from start to finish. This paper deals with crane-less servo-off operation of life-sized humanoid robot in which a robot safely turns off / on the joint servo without relying on external physical support. We organize the necessity and difficulty of life-sized humanoid servo-off and introduce a post-evaluation based heuristic procedure of generating servo-off posture. By generated servo-off posture and scripted transition motion, we demonstrate the crane-less servo-off operation with real life-sized humanoid robots in several scenarios.
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