Mastering of a Task with Interaction between a Robot and Its Environment. "Kendama" Task.

摘要

This paper discusses robot motion planning in dynamic environments, that is, generation of a motion pattern to achieve a task under restrictions of time and space. We especially focus on kendama as a typical example of such a task. In this task, no a priori knowledge of a ball (mass & length of a string) is assumed to be possessed beforehand. To perform this kendama task, we propose how to generate the motion pattern of the manipulator with a force sensing device attached to the end tip. Experimental results obtained using a 2 d. o. f. drect-drive manipulator are also shown.