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