Mr. Yuya Hakamata mainly conducts this research.

We propose a method to generate natural-speed stable motion to push or pull an object by a humanoid robot. Pushing and pulling motions are often performed in our daily life, for example, opening/closing doors, refrigerators, and drawers. Several studies on opening a door using a humanoid robot have been conducted, but the motions generated by the studies were slower than the human motion because no prior knowledge about the environment was used.

To shorten the time, we propose to use the predicted reaction force as prior knowledge and to expand the preview control to handle the predicted force. We also propose to accelerate the calculation of the Resolved Momentum control, which is used for controlling the center of mass obtained by the preview control. Through the experiment, we verify the applicability of the proposed method to the actual humanoid robot HRP-4.

Reference

Yuya Hakamata, Satoki Tsuichihara, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara: “Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics”, Advanced Robotics, vol. 34, no. 21-22, pp. 1442-1454, 2020.
Yuya Hakamata, Satoki Tsuichihara, Jun Takamatsu, and Tsukasa Ogasawara, “Whole body motion generation of humanoid robot using a predicted reaction force”, In Proc. of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.95-100, 2016.

Materials

Slide (related to this research topic)

Acknowledgement

This work is partially supported by JSPS KAKENHI Grant Number JP16K12502.