Self-Repair and Self-Extension by Tightening Screws based on Precise Calculation of Screw Pose of Self-Body with CAD Data and Graph Search with Regrasping a Driver

In this paper, we propose methods for tightening screws of self-body using a driver, which enable self-repair and self-extension. There are two difficulties for tightening screws of self-body. First, the precise calculation of the screw pose is needed. When calculation with visual images using a camera, the observation error is so high. The merit of the robot is that the robot has CAD data of self-body. There we calculate the precise screw pose with self CAD data. Second, because of the small closed links when tightening screws of self-body, that the robot cannot move the driver for rotating around the screw sometimes happens because inverse kinematics cannot be solved. To solve this problem, we propose a method of tightening motion generation with regrasping a driver if inverse kinematics cannot be solved. With these methods, humanoid robots PR2 and HIRO realized self-repair and self-extension by tightening screws of self-body.