Manipulation Learning on Humanoid Robots

Gams, Andrej; Petrič, Tadej; Nemec, Bojan; Ude, Aleš

doi:10.1007/s43154-022-00082-9

Cited by 1 publication

(2 citation statements)

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“…Different from the double-legged grasping discussed in Section 3.2.2, dedicated dual-arm setups have more degrees of freedom and more flexible end effectors. Dual arms have the advantage of being able to directly mimic human motions, either repetitive motions or human tele-operated motions (Kim et al, 1999;Kulić et al, 2012;Zuher and Romero, 2012;Gams et al, 2022;Zhou et al, 2022). In addition, dual arms can work together for large object manipulation Gams et al (2015) (Figure 8C) and hand-to-hand manipulation Vahrenkamp et al (2009).…”

Section: Frontiers In Mechanical Engineeringmentioning

confidence: 99%

“…Polverini et al (2020) presents a control architecture for pushing a heavy object by optimizing the contact force with the environment (Figure 8D). For additional information on manipulation with bipeds and centaurs, we refer the reader to Gams et al (2022), which studies humanoid robot learning for manipulation capabilities, and Rehman et al (2018), which provides an overview of centaur-style robots with dual arm manipulator systems. Another way of tackling the stability problem for very large objects is to have multiple robots working together, as described in the next section.…”

Section: Frontiers In Mechanical Engineeringmentioning

confidence: 99%

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Legged robots for object manipulation: A review

et al. 2023

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Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments, many legged platform demonstrations have also included “moving an object” as a way of doing tangible work. Legged robots can be designed to manipulate a particular type of object (e.g., a cardboard box, a soccer ball, or a larger piece of furniture), by themselves or collaboratively. The objective of this review is to collect and learn from these examples, to both organize the work done so far in the community and highlight interesting open avenues for future work. This review categorizes existing works into four main manipulation methods: object interactions without grasping, manipulation with walking legs, dedicated non-locomotive arms, and legged teams. Each method has different design and autonomy features, which are illustrated by available examples in the literature. Based on a few simplifying assumptions, we further provide quantitative comparisons for the range of possible relative sizes of the manipulated object with respect to the robot. Taken together, these examples suggest new directions for research in legged robot manipulation, such as multifunctional limbs, terrain modeling, or learning-based control, to support a number of new deployments in challenging indoor/outdoor scenarios in warehouses/construction sites, preserved natural areas, and especially for home robotics.

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