The Experts below are selected from a list of 36516 Experts worldwide ranked by ideXlab platform
Fumio Kanehiro - One of the best experts on this subject based on the ideXlab platform.
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Time Parameterization of Humanoid-Robot Paths
IEEE Transactions on Robotics, 2010Co-Authors: Wael Suleiman, Jean-paul Laumond, Fumio Kanehiro, Eiichi Yoshida, André MoninAbstract:This paper proposes a unified optimization framework to solve the time-parameterization problem of Humanoid-Robot paths. Even though the time-parameterization problem is well known in Robotics, the application to Humanoid Robots has not been addressed. This is because of the complexity of the kinematical structure as well as the dynamical motion equation. The main contribution of this paper is to show that the time parameterization of a statically stable path to be transformed into a dynamically stable trajectory within the Humanoid-Robot capacities can be expressed as an optimization problem. Furthermore, we propose an efficient method to solve the obtained optimization problem. The proposed method has been successfully validated on the Humanoid Robot HRP-2 by conducting several experiments. These results have revealed the effectiveness and the robustness of the proposed method.
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Humanoid Robot hrp 3
Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
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On Human Motion Imitation by Humanoid Robot
2008Co-Authors: Wael Suleiman, Jean-paul Laumond, Fumio Kanehiro, Eiichi Yoshida, André MoninAbstract:In this paper, the imitation of human recorded motions by a Humanoid Robot is considered. The main objective is to reproduce an imitated motion as closely as possible to the original human recored motion. To achieve this goal, the imitation problem is formulated as an optimization problem and the physical limits of the Humanoid Robot is considered as constraints. The optimization problem is then solved recursively by using an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The simulation results using OpenHRP platform, which is a dynamical simulator for Humanoid Robot motions, have pointed out that the imitated motions preserve the salient characteristics of the original human captured motion and the optimization procedure converges well thanks to the analytical calculation of gradient function.
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on human motion imitation by Humanoid Robot
International Conference on Robotics and Automation, 2008Co-Authors: Wael Suleiman, Jean-paul Laumond, Fumio Kanehiro, Eiichi Yoshida, A MoninAbstract:In this paper, the imitation of human captured motions by a Humanoid Robot is considered. The main objective is to reproduce an imitated motion which should be as close as possible to the original human captured motion. To achieve this goal, the imitation problem is formulated as an optimization problem and the physical limits of the Humanoid Robot are considered as constraints. The optimization problem is then solved recursively by using an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The simulation results using OpenHRP platform, which is a dynamical simulator for Humanoid Robot motions, have pointed out that the imitated motions preserve the salient characteristics of the original human captured motion. Moreover the optimization procedure converges well thanks to the analytical calculation of the gradient function.
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IROS - Humanoid Robot HRP-3
2008 IEEE RSJ International Conference on Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
Hirohisa Hirukawa - One of the best experts on this subject based on the ideXlab platform.
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real time planning of Humanoid Robot s gait for force controlled manipulation
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement is planned in real time according to the result of manipulation of the object. By using the impedance control of the arms, the Humanoid Robot can stably push the object regardless of the mass of the object. If the object is heavy, the Humanoid Robot pushes it by walking slowly and vice versa. Also, for planning the gait in real time, we propose a new analytical method where a newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment
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ISER - Integration of Manipulation and Locomotion by a Humanoid Robot
Springer Tracts in Advanced Robotics, 2006Co-Authors: Kensuke Harada, Fumio Kanehiro, Shuuji Kajita, Hajime Saito, Hirohisa HirukawaAbstract:We aim to develop a Humanoid Robot which can go anywhere an ordinary human covers. For such purpose, we consider enhancing the walk and work capabilities of a Humanoid Robot by integrating manipulation and locomotion. Especially, we focus on three motions of a Humanoid Robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while holding a handrail for support. These motions are realized by experiment using the Humanoid Robot HRP-2.
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a Humanoid Robot carrying a heavy object
International Conference on Robotics and Automation, 2005Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, H Saito, M Morisawa, K Fujiwara, Hirohisa HirukawaAbstract:This paper studies the balance of a Humanoid Robot carrying a heavy object. Without knowing the mass and the position of the center of gravity of the object, the Humanoid Robot carries a heavy object stably by using the force sensor information attached at the wrists and the ankles. We first show how to generate the motion of a humamoid Robot by taking the force sensor information into consideration. We also show the method for generating the gait pattern by taking the dynamics of the carried object. The effectiveness of the proposed method is shown by experiments.
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real time planning of Humanoid Robot s gait for force controlled manipulation
Transactions of the Japan Society of Mechanical Engineers. C, 2005Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a method for planning the gait of a Humanoid Robot in real-time for the force controlled manipulation. Focusing on.the task of pushing an object, a Humanoid Robot changes the foot placement in real-time according to the amount of pushing an object. By using this algorithm, a Humanoid Robot can push an object stably regardless of the mass of an object. If an object is heavy, a Humanoid Robot pushes an object with walking slowly, and vice versa. Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment.
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real time planning of Humanoid Robot s gait for force controlled manipulation
International Conference on Robotics and Automation, 2004Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This work proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement of it is planed in real-time according to the result of manipulation of an object. By controlling the arms using the impedance control, a Humanoid Robot can push an object stably regardless of the mass of an object. If an object is heavy, a Humanoid Robot pushes an object with walking slowly, and vice versa. Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment.
Kenji Kaneko - One of the best experts on this subject based on the ideXlab platform.
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Humanoid Robot hrp 3
Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
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IROS - Humanoid Robot HRP-3
2008 IEEE RSJ International Conference on Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
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real time planning of Humanoid Robot s gait for force controlled manipulation
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement is planned in real time according to the result of manipulation of the object. By using the impedance control of the arms, the Humanoid Robot can stably push the object regardless of the mass of the object. If the object is heavy, the Humanoid Robot pushes it by walking slowly and vice versa. Also, for planning the gait in real time, we propose a new analytical method where a newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment
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development of Humanoid Robot hrp 3p
IEEE-RAS International Conference on Humanoid Robots, 2005Co-Authors: Kazuhiko Akachi, Kenji Kaneko, Gou Miyamori, Shuuji Kajita, N Kanehira, S Ota, M Hirata, Fumio KanehiroAbstract:A development of Humanoid Robot HRP-3P, which is a Humanoid Robot HRP-3 prototype, is presented in this paper. HRP-3 is under development as the succession Humanoid to HRP-2, which we developed in phase two of HRP (Humanoid Robotics project). One of futures of HRP-3P is that its main mechanical and structural components are designed for protection against dust and water. Another is that node controllers are developed for realization of distributed control system. Real-time communication on Ethernet is also newly developed for communication between main controller and node controllers. In this paper, mechanical features and electrical features are presented with specifications of HRP-3P
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a Humanoid Robot carrying a heavy object
International Conference on Robotics and Automation, 2005Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, H Saito, M Morisawa, K Fujiwara, Hirohisa HirukawaAbstract:This paper studies the balance of a Humanoid Robot carrying a heavy object. Without knowing the mass and the position of the center of gravity of the object, the Humanoid Robot carries a heavy object stably by using the force sensor information attached at the wrists and the ankles. We first show how to generate the motion of a humamoid Robot by taking the force sensor information into consideration. We also show the method for generating the gait pattern by taking the dynamics of the carried object. The effectiveness of the proposed method is shown by experiments.
Kensuke Harada - One of the best experts on this subject based on the ideXlab platform.
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Humanoid Robot hrp 3
Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
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IROS - Humanoid Robot HRP-3
2008 IEEE RSJ International Conference on Intelligent Robots and Systems, 2008Co-Authors: Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Gou Miyamori, Kazuhiko AkachiAbstract:In this paper, the development of Humanoid Robot HRP-3 is presented. HRP-3, which stands for Humanoid Robotics Platform-3, is a human-size Humanoid Robot developed as the succeeding model of HRP-2. One of features of HRP-3 is that its main mechanical and structural components are designed to prevent the penetration of dust or spray. Another is that its wrist and hand are newly designed to improve manipulation. Software for a Humanoid Robot in a real environment is also improved. We also include information on mechanical features of HRP-3 and together with the newly developed hand. Also included are the technologies implemented in HRP-3 prototype. Electrical features and some experimental results using HRP-3 are also presented.
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real time planning of Humanoid Robot s gait for force controlled manipulation
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement is planned in real time according to the result of manipulation of the object. By using the impedance control of the arms, the Humanoid Robot can stably push the object regardless of the mass of the object. If the object is heavy, the Humanoid Robot pushes it by walking slowly and vice versa. Also, for planning the gait in real time, we propose a new analytical method where a newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment
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ISER - Integration of Manipulation and Locomotion by a Humanoid Robot
Springer Tracts in Advanced Robotics, 2006Co-Authors: Kensuke Harada, Fumio Kanehiro, Shuuji Kajita, Hajime Saito, Hirohisa HirukawaAbstract:We aim to develop a Humanoid Robot which can go anywhere an ordinary human covers. For such purpose, we consider enhancing the walk and work capabilities of a Humanoid Robot by integrating manipulation and locomotion. Especially, we focus on three motions of a Humanoid Robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while holding a handrail for support. These motions are realized by experiment using the Humanoid Robot HRP-2.
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a Humanoid Robot carrying a heavy object
International Conference on Robotics and Automation, 2005Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, H Saito, M Morisawa, K Fujiwara, Hirohisa HirukawaAbstract:This paper studies the balance of a Humanoid Robot carrying a heavy object. Without knowing the mass and the position of the center of gravity of the object, the Humanoid Robot carries a heavy object stably by using the force sensor information attached at the wrists and the ankles. We first show how to generate the motion of a humamoid Robot by taking the force sensor information into consideration. We also show the method for generating the gait pattern by taking the dynamics of the carried object. The effectiveness of the proposed method is shown by experiments.
Kazuhito Yokoi - One of the best experts on this subject based on the ideXlab platform.
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Pivoting based manipulation by a Humanoid Robot
Autonomous Robots, 2010Co-Authors: Eiichi Yoshida, Jean-paul Laumond, Mathieu Poirier, Oussama Kanoun, Florent Lamiraux, Rachid Alami, Kazuhito YokoiAbstract:In this paper we address whole-body manipulation of bulky objects by a Humanoid Robot. We adopt a “pivoting” manipulation method that allows the Humanoid to displace an object without lifting, but by the support of the ground contact. First, the small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a Humanoid Robot, which is verified by experiments.
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real time planning of Humanoid Robot s gait for force controlled manipulation
IEEE-ASME Transactions on Mechatronics, 2007Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement is planned in real time according to the result of manipulation of the object. By using the impedance control of the arms, the Humanoid Robot can stably push the object regardless of the mass of the object. If the object is heavy, the Humanoid Robot pushes it by walking slowly and vice versa. Also, for planning the gait in real time, we propose a new analytical method where a newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment
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real time planning of Humanoid Robot s gait for force controlled manipulation
Transactions of the Japan Society of Mechanical Engineers. C, 2005Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This paper proposes a method for planning the gait of a Humanoid Robot in real-time for the force controlled manipulation. Focusing on.the task of pushing an object, a Humanoid Robot changes the foot placement in real-time according to the amount of pushing an object. By using this algorithm, a Humanoid Robot can push an object stably regardless of the mass of an object. If an object is heavy, a Humanoid Robot pushes an object with walking slowly, and vice versa. Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment.
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real time planning of Humanoid Robot s gait for force controlled manipulation
International Conference on Robotics and Automation, 2004Co-Authors: Kensuke Harada, Fumio Kanehiro, Kenji Kaneko, Shuuji Kajita, Kazuhito Yokoi, K Fujiwara, Hirohisa HirukawaAbstract:This work proposes a new style of manipulation by a Humanoid Robot. Focusing on the task of pushing an object, the foot placement of it is planed in real-time according to the result of manipulation of an object. By controlling the arms using the impedance control, a Humanoid Robot can push an object stably regardless of the mass of an object. If an object is heavy, a Humanoid Robot pushes an object with walking slowly, and vice versa. Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the Robot motion is smoothly connected to the current one. The effectiveness of the proposed method is confirmed by simulation and experiment.
