1A1-L10 Carrying Objects on a Table based on Moving and Getting on/off the Stepstool by a Small Humanoid(Humanoid(1))

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  • 1A1-L10 小型ヒューマノイドによる踏み台運搬とよじ登り動作に基づく卓上物品の運搬行動(ヒューマノイド(1))

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Supporting houseworks by humanoids is expected, since robotics technology has been rapidly developed. Adult human-scale humanoids, however, could be danger to people when they fall or hit something, because they are so heavy and big. We suppose that small two-legged humanoids are suitable for working in living environment of human. Previously we have succeeded in manipulating objects on a table using the stepstool by a small humanoid. The purpose of our experiments has been realization of clearing up a room by a small humanoid. This paper describes a method of carrying objects on a table to another table by a small humanoid. This robot obtains data of position and direction of objects using camera images and grasps them.

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