휴머노이드 로봇의 임의유형 밸브 유연 조작

Abstract

The Fukushima accident was one of the most awful incident in the twenty-first century. However, if there were proper initial responses by humanoid robots, additional disaster(like explosion of nuclear power plant) could possibly be prevented. Furthermore, even after the disaster, commitment of robots would minimize damage of life and money. According to this fact, DARPA hosted 2013 DRC TRIAL to develop humanoid robots which can perform some tasks for human. Valve task was one of the tasks. In this task, a humanoid robot should close 3 types of valves. In this research, some strategies for a humanoid robot to detect and close valves are proposed. The strategies can be adapted to the situations with low visual information and unfavorable condition in communications. Generating robust/reliable motions, minimizing operating time and checking the valves were included. Actual experimental results of adpating it were also discussed.