Mobile manipulation of humanoid robots-a method of adjusting leg motion for improvement of arm's manipulability

Yoshida, Haruyuki; Inoue, Kenji; Arai, Tatsuo; Mae, Yasushi

doi:10.1109/aim.2001.936465

Cited by 13 publications

(5 citation statements)

References 9 publications

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“…The problem we address can be viewed as a 3D extension of the 2D problem addressed in Reference [23]. In Reference [23], the authors propose a strategy for the control of a pattern generator by monitoring the arm manipulability. While their model lies in the sagittal plane, our approach makes use of the whole body motion in 3D space.…”

Section: Task-driven Support Polygon Reshaping For Reachingmentioning

confidence: 99%

Motion autonomy for humanoids: experiments on HRP‐2 No. 14

Yoshida

Laumond²,

Esteves³

et al. 2009

Computer Animation & Virtual

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This paper deals with whole-body motion planning and dynamic control for humanoid from two aspects: locomotion including manipulation and reaching. In the first part, we address a problem of simultaneous locomotion and manipulation planning that combines a geometric and kinematic motion planner with a dynamic humanoid motion generator. The second part deals with whole-body reaching tasks by using a generalized inverse kinematics (IK) method to fully exploit the high redundancy of the humanoid robot. Through experiments using humanoid platform HRP-2 No. 14 installed at LAAS-CNRS, we first verify the validity of each method. An integrated experiment is then presented that unifies the both results via visual perception to execute an object-fetching task.

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Section: Task-driven Support Polygon Reshaping For Reachingmentioning

confidence: 99%

Motion autonomy for humanoids: experiments on HRP‐2 No. 14

Yoshida

Laumond²,

Esteves³

et al. 2009

Computer Animation & Virtual

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show abstract

“…As a result, the forces applied to the object can be much higher and the load on the actuators is better distributed. In Inoue et al (2002) and Yoshida et al (2001), a humanoid robot changes its body's configuration by adjusting its posture and changing its footholds. There, an objective function based on the manipulability [which essentially measures how easily the robot can instantaneously move in any direction, as defined in Lynch and Park (2017)] of both its arms is maximized, making it more dexterous.…”

Section: Figurementioning

confidence: 99%

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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“…Our contribution is to consider the possibility of reshaping the support polygon by stepping to increase the accessible space of the end-effectors in the 3D space. Our approach makes use of the whole body 3D space as opposed 2D in [39]. Moreover, in spite of our reasoning being based on inverse kinematics and simple geometric support polygon reshaping, our method guarantees that the motion is dynamically stable.…”

Section: Reaching: Generalized Inverse Kinematic Approachmentioning

confidence: 99%

Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation

Yoshida

Esteves

Kanoun

et al. 2010

Motion Planning for Humanoid Robots

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In this article we address the planning problem of whole-body motions by humanoid robots. The presented approach benefits from two cutting edges of recent advancement in robotics: powerful probabilistic geometric and kinematic motion planning and advanced dynamic motion control for humanoids. First, we introduce a two-stage approach that combines these two techniques for collision-free simultaneous locomotion and upper-body task. Then a whole-body motion generation method is presented for reaching including steps based on generalized inverse kinematics. The third example is planning of whole-body manipulation of large object by "pivoting", by making use of the precedent results. Finally, an integrated experiment is shown in which the humanoid robot interacts with its environment through perception. The humanoid robot platform HRP-2 is used as the platform to validate the results.

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Mobile manipulation of humanoid robots-a method of adjusting leg motion for improvement of arm's manipulability

Cited by 13 publications

References 9 publications

Motion autonomy for humanoids: experiments on HRP‐2 No. 14

Motion autonomy for humanoids: experiments on HRP‐2 No. 14

Legged robots for object manipulation: A review

Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation

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