Pushing manipulation by humanoid considering two-kinds of ZMPs
نویسندگان
چکیده
This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i.e., the conventional “Zero Moment Point (ZMP)” considering all sources of the force/moment acting in the foot supporting area, and the “Generalized Zero Moment Point (GZMP)” which is an generalization of ZMP for a humanoid robot whose hands do not contact with an object. We first obtain the stable region of the GZMP on the floor. Moreover, since the difference between these two ZMPs corresponds to the magnitude of contact force applied by the hands, we propose the pushing manipulation by a humanoid robot by modifying the desired ZMP trajectory for a humanoid. The effectiveness of the proposed method is confirmed by simulation results.
منابع مشابه
ZMP analysis for arm/leg coordination
This paper newly considers the ZMP(Zero Moment Point) of a humanoid robot under arm/leg coordination. By considering the infinitesimal displacement and the moment acting on the convex hull of the supporting points, we show that our method for determining the region of ZMP can be applicable to several cases of the arm/leg coordination tasks. We first express two kinds of ZMPs for such coordinati...
متن کاملPivoting 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 ...
متن کاملIntegration of Manipulation and Locomotion by a Humanoid Robot
We aim to develop a humanoid robot which can go anywhere an ordinary human covers. For such purpose, we consider enhancing the walk and work capabilities of a humanoid robot by integrating manipulation and locomotion. Especially, we focus on three motions of a humanoid robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while...
متن کاملThe mechanics of fine manipulation by pushing
This paper presents a method for determining the possible instantaneous motions of a sliding object during multiple contact pushing. The approach consists of two components: a kinematic analysis considering kinematic motion constraints, and a force analysis considering force constraints on the motion. A new representation of the support friction of a sliding object is presented, and the results...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کامل