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Association of whole body motion from tool knowledge for humanoid robots

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3 Author(s)
Dongheui Lee ; Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-0033, JAPAN ; Hirotoshi Kunori ; Yoshihiko Nakamura

Since humanoid robots have similar body structures to humans, they are expected to perform various tasks including tool-use manipulation tasks instead of humans. This research studies on learning and performing tool-use manipulation tasks. For tool-use manipulations, understanding the relation between tool motion and whole body motion is crucial. In this paper, a tool-use motion model is designed with tool knowledge and body motion knowledge. The authors propose a method which enables a humanoid robot to associate whole body motion from tool knowledge by adopting the mimesis method from partial observations. When a specific tool trajectory of a tool-use motion is given, appropriate hand motion is associated. From the calculated hand motion, appropriate whole body motion is associated successively. The proposed algorithm is implemented on a humanoid robot.

Published in:

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

22-26 Sept. 2008