成果報告書詳細
管理番号20160000000569
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)自律型ヒューマノイドロボット 非整備環境対応型高信頼ヒューマノイドロボットシステムの開発 
公開日2016/7/22
報告書年度2015 - 2015
委託先名国立研究開発法人産業技術総合研究所
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Development of a highly dependable humanoid robot system that can work in unstructured environments (FY2015-FY2016) FY2015 Annual Report

(1) Survey of fundamental technologies and integration technologies

(a) Object detection and tracking
Major technical issues in this topic are (i)versatile object modeling, (ii)object detection from complex backgrounds, (iii)robust model matching of partially obstructed objects and (iv)tracking of detected objects. Recently Deep Learning technology gets a lot of attention and it is evolving rapidly. We found the technology is useful to solve issues (i),(ii),(iii) and partially (iv).

(b) Robust multi contact motion control
The multi contact motion control is one of the hottest topics in humanoid robotics. But most of studies are still evaluated only in simulations and contacting parts are limited to hands and feet. The topic is still in the preliminary stage and developing rapidly. We aim to realize multi contact motions on a real robot.
(c) Robot system reliability improvement
Testing and debugging using a simulator is an efficient and safe way to improve reliability of robot systems. But such a method, especially for humanoid robots, is not widely used yet. A run-time monitoring system for humanoid robots is also important but such a system doesn’t exist. We’ll develop a testing and debugging system using a simulator and a lightweight run-time monitoring system.
(2) Exploration of humanoid applications

(a) Airplane manufacturing
Airplane manufacturing is not automated yet and the labor cost occupies 30-40% of the total cost. Human workers are often forced uncomfortable postures to work in constrained environment and repeat tedious tasks such as drilling and riveting. In order to deploy humanoid robots, multi contact whole body motion planning and control technologies are very important.
(b) Construction
In order to automate the construction, coordination with the next generation BIM(Building Information Modeling)/CIM(Construction Information Modeling) is necessary. It will help accurate localization and recognition of building materials. Humanoid robots are especially suitable to construction processes until the flat floor is built.
(c) Infrastructure maintenance
Many kinds of robots such as drones are under development for this application. But they are not enough to do maintenance of complex structures. Humanlike shape is not necessarily required but robots that can move in complex environment and use tools designed for humans are expected.
(d) Disaster response
A drone is very useful to observe disaster sites from the air. But removing debris to rescue victims is still done by humans. If a humanoid robot which is stronger and more efficient than humans, it is very useful. Although automated construction machines already exist, driving normal construction machines is still useful. High reliability and explosion-proof body are required to deploy humanoid robots to disaster sites.
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