2P2-J03 Realization of a Behavior of Carrying and Getting on the Stepstool to be capable of manipulate objects on the Table by a Small Humanoid(Humanoid)

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  • 2P2-J03 小型ヒューマノイドによる卓上の作業を可能とする踏み台運搬とよじ登り動作の実現(ヒューマノイド)

Abstract

The support of houseworks by humanoids is expected. But full-scale humanoids could be danger for people when they fall or hit something, because they are so heavy and big. We suppose small two-legged humanoids are suitable to work in home environment. One disadvantage of small humanoids is that they cannot reach a high place. We have built a behavior of getting on a tall object by a small humanoid. If a small humanoid has a capability of carrying a stepstool to a desired place, it could manipulate objects on a table. This paper describes a method of carrying a stepstool by a small humanoid. The robot obtains data of distance and direction of the stepstool with camera images.

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