Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks

Satoki Tsuichihara; Akihiko Yamaguchi; Jun Takamatsu; Tsukasa Ogasawara

doi:10.1109/ROBIO.2015.7418789

Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks

Satoki Tsuichihara, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

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

4 Citations (Scopus)

Abstract

With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	333-338
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7418789
Publication status	Published - 2015
Externally published	Yes
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 2015 Dec 6 → 2015 Dec 9

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Other

Other	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	15/12/6 → 15/12/9

ASJC Scopus subject areas

Artificial Intelligence
Hardware and Architecture
Control and Systems Engineering

Access to Document

10.1109/ROBIO.2015.7418789

Cite this

Tsuichihara, S., Yamaguchi, A., Takamatsu, J., & Ogasawara, T. (2015). Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 333-338). [7418789] (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7418789

Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. / Tsuichihara, Satoki; Yamaguchi, Akihiko; Takamatsu, Jun et al.
2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 333-338 7418789 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

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

Tsuichihara, S, Yamaguchi, A, Takamatsu, J & Ogasawara, T 2015, Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7418789, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Institute of Electrical and Electronics Engineers Inc., pp. 333-338, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 15/12/6. https://doi.org/10.1109/ROBIO.2015.7418789

Tsuichihara S, Yamaguchi A, Takamatsu J, Ogasawara T. Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 333-338. 7418789. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). doi: 10.1109/ROBIO.2015.7418789

Tsuichihara, Satoki ; Yamaguchi, Akihiko ; Takamatsu, Jun et al. / Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 333-338 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

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abstract = "With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.",

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Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks

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