2012 IEEE/RSJ International Conference on Intelligent Robots and Systems 2012
DOI: 10.1109/iros.2012.6386085
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Humanoid full-body controller adapting constraints in structured objects through updating task-level reference force

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Cited by 17 publications
(12 citation statements)
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“…For example, peg-hole contact or drawershelf contact is not included in OR contacts which we used. However, we could achieve drawer-pulling manipulation by using the same controller as door and cart pushing controller [8]. We need to discuss the relationship between accuracy of representation of contact states and used controller parameters.…”
Section: Discussionmentioning
confidence: 99%
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“…For example, peg-hole contact or drawershelf contact is not included in OR contacts which we used. However, we could achieve drawer-pulling manipulation by using the same controller as door and cart pushing controller [8]. We need to discuss the relationship between accuracy of representation of contact states and used controller parameters.…”
Section: Discussionmentioning
confidence: 99%
“…In the contact-force controller, we utilized calculation of humanoid's COM trajectory based on Zero Moment Point (ZMP) considering the reaction forces at the hands [15]. The controller controls reaction forces at hands by using impedance controller and calculate full-body posture sequence [8] satisfying hands, feet, and COM trajectories. As a Motion Generator for 3D locomotion such as climbing, we employed quadratic programming considering inequality condition about limit torques, reaction forces, and frictions forces .…”
Section: A Experimental Condition and Implementationmentioning
confidence: 99%
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“…Differently, [13] models the disturbance as a torque on the ZMP. Another closely related work is [14], which builds on [10] in pushing heavy objects. In particular, the range of allowable external forces is obtained from the model considering a pre-defined ZMP, as in [2].…”
Section: Introductionmentioning
confidence: 99%