Mobile manipulation of humanoid robots-optimal posture for generating large force based on statics

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

doi:10.1109/robot.2002.1013570

Cited by 22 publications

(9 citation statements)

References 10 publications

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“…An excellent example of a humanoid robot is Honda's Asimo [11,12] shown in Boston Dynamics has also demonstrated the effectiveness of bipedal motion with their robot PETMAN [14] (see Figure 1.6) which can even stabilize after encountering an unpredictable external force. PETMAN is an adaptation on the BigDog platform presented in the next subsection.…”

Section: Bipedal Platformsmentioning

confidence: 99%

Kinematic control and posture optimization of a redundantly actuated quadruped robot

Thomson

Sharf

Beckman

2012

2012 IEEE International Conference on Robotics and Automation

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Section: Bipedal Platformsmentioning

confidence: 99%

Kinematic control and posture optimization of a redundantly actuated quadruped robot

Thomson

Sharf

Beckman

2012

2012 IEEE International Conference on Robotics and Automation

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“…Besides some typical jobs like lifting heavy loads, pushing objects [2] [3], moving on a slope or tough terrains or interacting with the external environment [4], different robotic postures of the upper body and the arms, such as the upper body bending quickly to forward, backward, or sidewards and the arms performing fast manipulations, will also lead to the instability of the whole robot. Even the mismatched motions between the upper body and the mobile base will cause the instability of the robot.…”

Section: Introductionmentioning

confidence: 99%

Static force analysis for a mobile humanoid robot moving on a slope

Wang

2009

2008 IEEE International Conference on Robotics and Biomimetics

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The paper firstly presents a mobile humanoid robot whose upper human-like body is rigidly mounted on the mobile platform with three wheels: two driving wheels and one caster wheel. The wheeled mobile platform moves on the ground subjected to nonholonomic constraints. Then the static equilibrium of the robot on a plane is discussed and tipover stability of mobile humanoid robot moving on the slope is analyzed. In order to investigate the influence of exerting the force on the arm end-effector on the stability of the robot, the typical cases are studied carefully. Finally some simulations are carried out and the influence of different modes on the stability are analyzed by comparing different cases.

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“…More recent research is concerned with the fusion of exteroceptive (vision [8], ultrasonic [9], sonar [10], or GPS [11]) sensor data for purposes of obtaining precise global positioning by periodically recalibrating the accumulated dead-reckoning error. In contrast, body orientation estimation has been investigated in the legged robot literature for high-DOF bipeds [12,13], whose stability and balance must be actively controlled by state feedback. There is some prior work on exteroceptive (vision based) [14][15][16] approaches to positioning for legged machines but no account of the legged odometry problem.…”

Section: Introductionmentioning

confidence: 99%

Legged Odometry from Body Pose in a Hexapod Robot

Lin

Komsuoğlu

Koditschek

2006

Springer Tracts in Advanced Robotics

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We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GTMS). We also compare the performance to that of sensorless odometry schemes -both legged as well as on a wheeled version of the robot -using GTMS measurements of elapsed distance. Abstract. We report on a continuous time odometry scheme for a walking hexapod robot built upon a previously developed leg-strain based body pose estimator. We implement this estimation procedure and odometry scheme on the robot RHex and evaluate its performance at widely varying speeds and over different ground conditions by means of a 6 degree of freedom vision based ground truth measurement system (GTMS). We also compare the performance to that of sensorless odometry schemes -both legged as well as on a wheeled version of the robot -using GTMS measurements of elapsed distance.

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Mobile manipulation of humanoid robots-optimal posture for generating large force based on statics

Cited by 22 publications

References 10 publications

Kinematic control and posture optimization of a redundantly actuated quadruped robot

Kinematic control and posture optimization of a redundantly actuated quadruped robot

Static force analysis for a mobile humanoid robot moving on a slope

Legged Odometry from Body Pose in a Hexapod Robot

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