Title :
Humanoid motion generation system on HRP2-JSK for daily life environment
Author :
Okada, Kei ; Ogura, Takashi ; Haneda, Atsushi ; Fujimoto, Junya ; Gravot, Fabien ; Inaba, Masayuki
Author_Institution :
Graduate Sch. of Inf. Sci. & Technol., Tokyo Univ., Japan
fDate :
29 July-1 Aug. 2005
Abstract :
This paper describes software system for a humanoid robot viewed from a motion generation aspect by taking kitchen helping behaviors as an example of a real world task. Our software consists of high level reasoning modules including 3D geometric model based action/motion planner and runtime modules contains 3D visual processor, force manipulation controller and walking controller. We discuss how a high level motion and action planner based motion generation functions contribute to various real world humanoid tasks and a role of perception based motion generation using a vision sensor and force sensors.
Keywords :
control engineering computing; force control; humanoid robots; inference mechanisms; manipulators; mobile robots; motion control; path planning; 3D geometric model; 3D visual processor; HRP2-JSK; action planner; force manipulation controller; force sensors; humanoid robot; kitchen helping behaviors; motion generation; motion planner; reasoning modules; software system; vision sensor; walking controller; Force control; Force sensors; Humanoid robots; Legged locomotion; Motion control; Motion planning; Robot kinematics; Software systems; Solid modeling; System software;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626828
