Real-time humanoid approaching kitchen

With the humanoid robot HRP-4, we implemented the motion of pouring a cup of water using an electrical pot.
We improved the real-timeness by generating a dual-arm coordinated motion.

Publication

1. Satoki Tsuichihara, Yuya Hakamata, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara,
   Real-time whole-body motion generation using torso posture regression and center of mass,
   ROBOMECH Journal, Vol. 5, No. 1, pp. 1-13, 2018.
   [Robomech Journal][bibtex]
2. Satoki Tsuichihara, Yuya Hakamata, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, and Tsukasa Ogasawara,
   Accelerating Whole-body Motion Generation Using Regression of the Torso Posture of a Humanoid Robot,
   In Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), WeAT2.3, pp. 16-21, The Westin Resort & Spa Cancun, Mexico, Nov 15-17, 2016 (Oral Presentation).
   [Research gate][bibtex]
3. Yuya Hakamata, Satoki Tsuichihara, Jun Takamatsu, and Tsukasa Ogasawara,
   Whole body motion generation of humanoid robot using a predicted reaction force,
   In Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), WeCT2.5, pp. 95-100, The Westin Resort & Spa Cancun, Mexico, Nov 15-17, 2016 (Oral Presentation).
4. Jun Takamatsu, Satoki Tsuichihara, Yuya Hakamata, and Tsukasa Ogasawara,
   Achieving Real-Time Humanoid Motion Generation and Natural Speed Pushing/Pulling Motion using Experiences,
   Korea-Japan Workshop on Robotics and Information Technology for Better Quality of Life, 2016.
5. 築地原 里樹, 袴田 有哉, Garcia Ricardez Gustavo Alfonso, 高松淳, 小笠原司:
   胴体姿勢推定を用いた高速なヒューマノイドロボットの全身動作生成,
   ロボティクスメカトロニクス講演会2017 (ROBOMECH2017), 1P2-N07, 2017年5月11-12日.
6. 築地原 里樹, 袴田 有哉, 高松 淳, 小笠原 司:
   ヒューマノイドロボットの胴体姿勢推定を用いた全身動作生成,
   第34回日本ロボット学会学術講演会 (RSJ2016), 3F1-04, 2016年9月7-9日.