Pivoting a Large Object: Whole-Body Manipulation by a Humanoid Robot
نویسندگان
چکیده
منابع مشابه
Pivoting a Large Object: Whole-body Manipulation by a Humanoid Robot
In this paper we present a method of whole-body manipulation of large objects by a humanoid robot using a pivoting motion. Pivoting manipulation can be an alternative to pushing or lifting for more dexterous and stable operation, which is often used by humans to move large and bulky furniture. This paper describes a method and control techniques for a humanoid robot to perform the manipulation ...
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Recent progress in research on humanoid robots is making them to complicated tasks, such as manipulation, navigation in dynamic environments, or serving tasks. One of promising application areas for humanoid robots include the manipulation task thanks to their high potential ability of executing of a variety of tasks by fully exploiting their high mobility and adaptability coming from its large...
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In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the smalltime controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking int...
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ژورنال
عنوان ژورنال: Applied Bionics and Biomechanics
سال: 2006
ISSN: 1176-2322,1754-2103
DOI: 10.1155/2006/683746