Humanoid control method based on human knack for human care service

The humanoid is expected to realize a humancare in Japan where a problem of the shortage of care workers is occurring by aging. In order to determine the complicated motion like the human care for the humanoid, it is efficient to use the same motion of human. If the motion of the human is directly applied to the humanoid, it is difficult to achieve the requested motion because the humanoid takes unstable posture by the difference of dynamic, parameters. Therefore, it is suitable method to determine the motion of the humanoid based on the human knack which is necessary for realizing the complicated motion such as the human care. The humanoid can not keep the stable posture by using on y the human knack because the human knack is the technique to realize the motion of the human who has the difference of dynamic parameters. So a posture control system is required to control the humanoid. The purpose of this research is to develop the humanoid control method based on the human knack for human care. In order to acquire the knack easily, the joint\´s movement measured by motion capture system and the force estimated by Myoelectricity are divided into the unit of meaningful motion called "Phase", and the knack is derived from each Phase. Since the humanoid needs to touch, people in the human care, the humanoid may fall down on and injure a person in need of nursing care In order to keep the humanoid\´s posture stable, we developed the control system In consideration at the relationship among Zero Moment Point (ZMP) the support polygon, and the action force to the Center Of Gravity (COG). The motion of the humanoid is. determined based on the human knack and the posture control system. To confirm the effectiveness of the proposed control method based on the human knack, we simulated the situation of the humanoid caring for the human rising from the chair. The humanoid model "HRP1S" and the human model which has human parameters and cannot rise by itself were used in this simulation. As the result of the simulation, we realized the human care by the humanoid and and verified the effectiveness of the proposed method.