{"title":"一种基于引导点和协同点不间断切换的灵巧类人机器人导航方法","authors":"T. Sugihara, H. Kobayashi","doi":"10.1109/ICHR.2008.4756019","DOIUrl":null,"url":null,"abstract":"A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points\",\"authors\":\"T. Sugihara, H. Kobayashi\",\"doi\":\"10.1109/ICHR.2008.4756019\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.\",\"PeriodicalId\":402020,\"journal\":{\"name\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICHR.2008.4756019\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICHR.2008.4756019","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points
A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.