Humanoid motion generation system on HRP2-JSK for daily life environment

This paper describes software system for a humanoid robot viewed from a motion generation aspect by taking kitchen helping behaviors as an example of a real world task. Our software consists of high level reasoning modules including 3D geometric model based action/motion planner and runtime modules contains 3D visual processor, force manipulation controller and walking controller. We discuss how a high level motion and action planner based motion generation functions contribute to various real world humanoid tasks and a role of perception based motion generation using a vision sensor and force sensors.

[1]  Katsu Yamane,et al.  Synergetic CG choreography through constraining and deconstraining at will , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Kazuhito Yokoi,et al.  Open architecture humanoid robotics platform , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  Masayuki Inaba,et al.  Real-time and Precise Self Collision Detection System for Humanoid Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[4]  Hirochika Inoue,et al.  Humanoid robotics platforms developed in HRP , 2004, Robotics Auton. Syst..

[5]  Hirochika Inoue,et al.  Whole Body Motion Generator of Robots using RRT-Connect Planner , 2003 .

[6]  Masayuki Inaba,et al.  A Platform for Robotics Research Based on the Remote-Brained Robot Approach , 2000, Int. J. Robotics Res..

[7]  Masayuki Inaba,et al.  Motion Generation of Humanoids based on Object Trajectory Description , 2004 .

[8]  Masayuki Inaba,et al.  Environment manipulation planner for humanoid robots using task graph that generates action sequence , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[9]  Masayuki Inaba,et al.  Integrated system software for HRP2 humanoid , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).