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)

Abstract

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.

Keywords

Humanoid robot hoap-2 Mobile manipulation 

Notes

Acknowledgments

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.

References

  1. 1.
    Takanishi, A., et al. (2012). Biped robot technology now. Robotics Society of Japan, 30(4), 1–19 (in Japanese).Google Scholar
  2. 2.
    Yoshida, H., et al. (2000). Mobile manipulation of humanoid robots-analysis of manipulability and stability in mobile manipulation (pp. 1924–1929). International Conference on Robotics and Automation.Google Scholar
  3. 3.
    Harada, K., et al. (2004). Real-time planning of humanoid robot’s Gait for force-controlled manipulation (pp. 616–622). International Conference on Robotics and Automation.Google Scholar
  4. 4.
    Kajita, S. (2005). Humanoid Robot. Ohmsha (in Japanese).Google Scholar
  5. 5.
    Watanabe, Y., et al. (2010). System integration of a lifesized humanoid robot and its application to make a salad with handling general cooking tools (pp. 2A2–A17). Conference Robotics and Mechatronics (in Japanese).Google Scholar
  6. 6.
    Ogura, T., et al. (2007). Realization of dynamics simulator embedded robot brain for humanoid robots (pp. 2175–2180). International Conference on Robotics and Automation.Google Scholar
  7. 7.
    Kunori, H., et al. (2008). Association of humanoid whole body motion with knowledge of tools (pp. 2A1–E22). Conference Robotics and Mechatronics (in Japanese).Google Scholar
  8. 8.
    Sugiura, Y. Development of a simulated experience for humanoid robot. http://robot.watch.impress.co.jp/cda/column/2006/07/24/89.html
  9. 9.
    Yao, F. H., et al. (2004). Extracting the trajectory of writing brush in Chinese character calligraphy. Engineering Application of Artificial Intelligence, 17, 631–644.Google Scholar
  10. 10.
    Huebel, N., et al. (2012). Towards robotic calligraphy. International Conference on Intelligent Robots and Systems, WedFVT9.5.Google Scholar
  11. 11.
    Tanaka, T., et al. (2003). Study of sensing methods for sophisticated robot teaching (pp. 176–177). Proceedings of the Japan Society of Mechanical Engineering (in Japanese).Google Scholar
  12. 12.
    Katsura, S. (2012). Motion copy system. http://www.youtube.com/watch?v=ZeHEsb7XdWM.
  13. 13.
    Sugiyama, S., et al. (2013). Japanese calligraphy using whole body motion of a humanoid robot. Lecture Notes in Electrical Engineering, 234, 345–355.Google Scholar

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

Personalised recommendations