A dynamic object manipulation approach to dynamic biped locomotion

Beigzadeh, Borhan; Ahmadabadi, Majid Nili; Meghdari, Ali; Akbarimajd, Adel

doi:10.1016/j.robot.2007.11.002

Cited by 10 publications

(12 citation statements)

References 31 publications

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“…Moreover as it was already shown in [24], [36], [37] that walking is in dynamic analogy with manipulation, this work can inspire the researchers to modify passively walking robots to change their directions during walking.…”

Section: Discussionmentioning

confidence: 63%

“…One can find some examples in [29]- [35]. As it was shown that locomotion is dynamically analogous to manipulation [24], [36], [37], the results of studies on passive locomotion can be utilized in design of passive locomotion mechanisms. The idea of passive manipulation, however, was firstly introduced in [38] where four significant properties of passive manipulation were introduced and three examples were presented.…”

Section: Introductionmentioning

confidence: 99%

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A New Mechanism for Passive Dynamic Object Manipulation along a Curved Path

Bajelan

Akbarimajd

2016

Automatika

Self Cite

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Section: Discussionmentioning

confidence: 63%

Section: Introductionmentioning

confidence: 99%

A New Mechanism for Passive Dynamic Object Manipulation along a Curved Path

Bajelan

Akbarimajd

2016

Automatika

Self Cite

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“…Figure 2 suggests how the self-manipulation problem we setup below relates to more traditional manipulation and locomotion problems. Joining these perspectives motivates our exploration of the long noted more general du- ality between locomotion and manipulation 1 [14][15][16][17], leading to dual-use actuators that can locomote and manipulate [18][19][20][21][22][23], as well as lending insight into locomotion through manipulation [17] or the reverse [24]. Following that tradition, this section presents a grasptheoretic analysis of a two-stick-legged, standing planar robot with one motor at each hip 2 .…”

Section: Kinematics Of a Self-manipulationmentioning

confidence: 99%

“…where τ m is the mean torque and τ d is the difference in torques, to be defined in (17). A key insight that emerges from the grasp analysis is to break apart the functional…”

Section: A Problem Setupmentioning

confidence: 99%

Standing self-manipulation for a legged robot

Johnson

Haynes

Koditschek

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Follow this and additional works at: http://repository.upenn.edu/ese_papers Part of the Electrical and Computer Engineering Commons, and the Systems Engineering Commons BibTeX entry @inproceedings{paper:johnson-iros-2012, author = {Aaron M. Johnson and G Clark Haynes and D E Koditschek}, title = {Standing Self-Manipulation for a Legged Robot}, booktitle = {Proceedings of the IEEE/RSJ Intl. Conference on Intelligent Robots and Systems}, month = {October}, year = {2012}, address = {Algarve, Portugal}, pages = {272--279} } AbstractOn challenging, uneven terrain a legged robot's open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current measurements as proprioceptive sensors for the approximate gradients of both the internal and external task potential fields, without recourse to further modeling. The behavior is derived using a manipulation framework informed by the dual relationship between a legged robot and a multifingered hand. We implement the reactive posture controller resulting from simple online descent along these proprioceptively sensed gradients on the X-RHex robot to document the significant savings in standing power. For more information: Kod*Lab Disciplines Electrical and Computer Engineering | Engineering | Systems EngineeringComments BibTeX entry @inproceedings{paper:johnson-iros-2012, author = {Aaron M. Johnson and G Clark Haynes and D E Koditschek}, title = {Standing Self-Manipulation for a Legged Robot}, booktitle = {Proceedings of the IEEE/ RSJ Intl. Conference on Intelligent Robots and Systems}, month = {October}, year = {2012}, address = {Algarve, Portugal}, pages = {272--279} } Abstract-On challenging, uneven terrain a legged robot's open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that can minimize both internal and external torques absent any terrain information. The key to this behavior is a change of basis in torque space that approximates the partially decoupled nature of the two types of disturbances. The new coordinates reveal how to use actuator current measurements as proprioceptive sensors for the approximate gradients of both the internal and external task potential fields, without recourse to further modeling. The beha...

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“…Dynamic object manipulation (it is also called Dynamic Nonprehensile Manipulation (DNM) meaning manipulation without grasping the object), however, simplifies the structure of manipulators while adding complexity to the control strategy, dynamical modeling, and stability analysis of the process. Pushing [1,2], rolling [2], sliding [2], throwing [4,5], catching [4,5], batting [6], and so on, are the concepts based on which dynamic object manipulation is usually performed.…”

Section: Introductionmentioning

confidence: 99%