Tool Control Method Considering Kinematical Constraint in Japanese Calligraphy of a Humanoid Robot

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 293)


In this research, a tool control method considering a kinematical constraint of brush for smooth calligraphic specimen is proposed by doing knee bends and by turn back operation of brush of humanoid robots while walking. In our previous research, a system for writing Japanese calligraphy using the whole body motion of a humanoid robot has already been developed. It consists of an instruction system using a virtual haptic interface and a humanoid robot with a brush on its right hand. In the previous method, there is a problem about wrong brush condition. To cope with the difficulty, an upgrade for considering brush characteristics while writing is proposed. Experiments show the smooth writing results for considering the tools’ characteristics.


Humanoid robot hoap-2 Mobile manipulation 



The authors would like to thank Ms. Satoko Adachi from Ritsumeikan University, Prof. Masanao Koeda from Osaka Electro-Communication University, and Prof. Tsuneo Yoshikawa from Ritsumeikan University who contributed to the initial design.


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Department of Human and Computer Intelligence College of Information Science and EngineeringRitsumeikan UniversityShigaJapan

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