Analysis of nailing task motion for a humanoid robot

Teppei Tsujita; Atsushi Konno; Shunsuke Komizunai; Yuki Nomura; Takuya Owa; Tomoya Myojin; Yasar Ayaz; Masaru Uchiyama

doi:10.1109/IROS.2008.4651160

Analysis of nailing task motion for a humanoid robot

Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion". In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.

Original language	English
Title of host publication	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1570-1575
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2008.4651160
Publication status	Published - 2008 Dec 1
Event	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 2008 Sept 22 → 2008 Sept 26

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/Territory	France
City	Nice
Period	08/9/22 → 08/9/26

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IROS.2008.4651160

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Tsujita, T., Konno, A., Komizunai, S., Nomura, Y., Owa, T., Myojin, T., Ayaz, Y., & Uchiyama, M. (2008). Analysis of nailing task motion for a humanoid robot. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1570-1575). [4651160] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651160

Analysis of nailing task motion for a humanoid robot. / Tsujita, Teppei; Konno, Atsushi; Komizunai, Shunsuke et al.

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 1570-1575 4651160 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsujita, T, Konno, A, Komizunai, S, Nomura, Y, Owa, T, Myojin, T, Ayaz, Y & Uchiyama, M 2008, Analysis of nailing task motion for a humanoid robot. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4651160, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1570-1575, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 08/9/22. https://doi.org/10.1109/IROS.2008.4651160

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AU - Myojin, Tomoya

AU - Ayaz, Yasar

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AB - In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion". In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.

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Analysis of nailing task motion for a humanoid robot

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