Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ogata, K. Kuniyoshi, Y. |
| Copyright Year | 2009 |
| Description | Author affiliation: Intelligent Systems and Informatics Laboratory, the department of Mechano-Informatics Graduate, School of Information Science and Technology, University of Tokyo, 7-3-1, Hongo Bunkyo-ku, 113-8656, Japan (Ogata, K.; Kuniyoshi, Y.) |
| Abstract | In order to help with care work and rescue operations, humanoid robots should have the ability to lift and carry humans gently and steadily. This paper is a step towards the ultimate goal of giving humanoid robots the ability to lift and carry humans, a task which involves very complex physical interactions. We measure several such lifting and carrying motions using a motion capture system, paying special attention to “knacks” which are motion patterns which are critical to success in the task. The knack movements are basically simple, so if they can be found, they can be used to obtain control methods enabling human-lifting motions for humanoid robots. In the experimental results, we found two common knacks between three subjects, and that falling momentum plays a very important role in the motion. Moreover we discovered that when a subject uses the two special knacks effectively, along with a rotation movement, the load on the waist is decreased. Thus, we propose a motion model for humanoid robot control that includes translation movement and rotation movement, and we expect that this model will have the ability to express various human handling motions. |
| Starting Page | 99 |
| Ending Page | 104 |
| File Size | 12215141 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424445974 |
| DOI | 10.1109/ICHR.2009.5379594 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-12-07 |
| Publisher Place | France |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Robot kinematics Computational modeling Friction Humans Humanoid robots Discrete event simulation Acceleration Mechanical systems Foot |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|