Working postures for humanoid robots to generate large manipulation force

Konno, Atsushi; Hwang, Yoon-Kwon; Tamada, S.; Uchiyama, Masaru

doi:10.1109/iros.2005.1545237

Cited by 15 publications

(10 citation statements)

References 7 publications

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“…2 is not considered in these studies. Konno dealt with the whole body motion of the humanoid and discussed appropriate working postures to apply a force to an environment [8]. But the dynamical effect is not considered in this paper.…”

Section: B Related Workmentioning

confidence: 99%

Dynamic Lifting Motion of Humanoid Robots

Arisumi

Chardonnet

Kheddar³

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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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.

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Section: B Related Workmentioning

confidence: 99%

Dynamic Lifting Motion of Humanoid Robots

Arisumi

Chardonnet

Kheddar³

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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“…Humans instinctively modify their body posture during heavy work, and previous studies have investigated pushing heavy objects in simulation [1], [2], and on physical robots using optimized postures [3]. Full body posture control in conjunction with force sensors to lift an object with unknown mass was shown in [4].…”

Section: Introductionmentioning

confidence: 99%

Active stabilization of a humanoid robot for impact motions with unknown reaction forces

Zhang

Hong

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-During heavy work, humans utilize whole body motions in order to generate large forces. In extreme cases, exaggerated weight shifts are used to impart large impact forces. There have been approaches to design stable whole body impact motions based on precise dynamic models of the robot and the target object, but they have practical limitations as the uncertainty in the ensuing reaction forces can lead to instability. In the current work, we describe a motion controller for a humanoid robot that generates impacts at an end effector while keeping the robot body balanced before and after the impact. Instead of relying on the accuracy of the impact dynamics model, we use a simplified model of the robot and biomechanically motivated push recovery controllers to reactively stabilize the robot against unknown perturbations from the impact. We demonstrate our approach in physically realistic simulations, as well as experimentally on a small humanoid robot platform.

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“…Hwang et al discussed appropriate working postures for a humanoid robot to apply a force effectively to an environment [7]. An objective function is defined by using load rations of all joints, and sequential quadratic programming is used to find a solution.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Gait Planning for Pushing Motion of Humanoid Robot

Motoi

Ikebe

Ohnishi

2007

IEEE Trans. Ind. Inf.

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This paper describes real-time gait planning for pushing motion of humanoid robots. This method deals with an object whose mass is not known. In order that a humanoid robot pushes an unknown object in both single support phase and double support phase, real-time gait planning for pushing the unknown object is proposed. Real-time gait planning consists of zero moment point (ZMP) modification and cycle time modification. ZMP modification is the method that modifies the influence of reaction force to ZMP. By cycle time modification, the period in double support phase is modified to avoid a robot tipping over. These modifications are calculated from reaction force on arms in every cycle. With these methods, trajectory planning for pushing an unknown object in both single support phase and double support phase is calculated. Even if parameters of an object and friction coefficient on the floor vary, the robot keeps on walking while pushing an object. The effectiveness of the proposed method is confirmed by a simulation and an experiment.

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Working postures for humanoid robots to generate large manipulation force

Cited by 15 publications

References 7 publications

Dynamic Lifting Motion of Humanoid Robots

Dynamic Lifting Motion of Humanoid Robots

Active stabilization of a humanoid robot for impact motions with unknown reaction forces

Real-Time Gait Planning for Pushing Motion of Humanoid Robot

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