Dynamic Lifting Motion of Humanoid Robots

Abstract

This paper describes a motion generation method for dynamic lifting by a humanoid robot. The proposed technique suggests the possibility of taking advantage of the whole body motion in order to facilitate the lifting movement. In particular, the idea is to perform a preliminary motion in order to generate a momentum which is instantaneously transferred to the object as an impulsive force. This allows the humanoid to lift up an object that could not be lifted up only by continuous force. However an impulsive force may make the humanoid unstable. Then, we propose to set the center of percussion (CoPn) of the whole system at the center of the support polygon of the humanoid when it lifts up the object. We also propose a design method of a preliminary motion of the humanoid that generates a sufficient momentum to lift up an object without any slip, tumble and hop of the whole system. The effectiveness of the proposed method is confirmed by simulation and experiment.

Dynamic lifting by whole body motion of humanoid robots

“…In our earlier works, we focused on a preliminary motion of a robot before manipulation, and proposed to use it for dynamic lifting by impulsive forces [11]. We performed experiments on a real humanoid robot, and we confirmed the feasibility of lifting a box placed initially on the floor at the height of the waist of the robot, showing the effectiveness of the method.…”

“…We here introduce the static stable reachable space, SsRS [11]. It is defined as the set of positions of the robot's hand when the following constraints are all satisfied.…”

Realistic Dynamic Posture Prediction of Humanoid Robot: Manual Lifting Task Simulation

“…In other hand If lifting motion modeled as a inverted pendulum ( fig. 3) [21] we can claim that magnitude of pendulum joints torque has relation to amount of deviation from stability position ( 0°) directly.…”

What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting

“…On the other hand, if the lifting motion be modeled as an inverted pendulum (Fig. 4) [5] It could be concluded that the magnitude of the pendulum joints torque has direct relation to the amount of the deviation from the stability position (θ = 0 • ). Therefore, a particular function which is constructed in term of the ankle torque could be used as the motion stability index.…”