Abstract
In this article, 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 article describes a method and control techniques for a humanoid robot to perform the manipulation of a large object through whole-body motion by applying this pivoting motion. For this purpose, first the object is manipulated by two arms of a humanoid robot using impedance control for grasping, together with body balancing control while the robot stays at the same place. Next, the movement of the humanoid robot itself is performed by stepping motion with the help of resolved momentum control to guarantee the robot stability. The proposed manipulation is validated through dynamic simulation and real hardware experiment of the humanoid robot HRP-2 performing the pivoting task.
Highlights
Research on humanoid robots has lead to prototypes that can perform complicated tasks such as manipulation, navigation in dynamic environments, or serving tasks.The manipulation task is one of the promising application areas for humanoid robots since they have a high potential for executing a variety of tasks by fully exploiting their high mobility and adaptability owing to large number of degrees of freedom
This article focuses on the manipulation by a humanoid robot of large objects by introducing pivoting motions (Aiyama et al 1993)
We have proposed a sequence of pivoting motion composed of two phases, manipulation control and robot motion
Summary
Research on humanoid robots has lead to prototypes that can perform complicated tasks such as manipulation, navigation in dynamic environments, or serving tasks. The manipulation task is one of the promising application areas for humanoid robots since they have a high potential for executing a variety of tasks by fully exploiting their high mobility and adaptability owing to large number of degrees of freedom. The manipulation of bulky objects through a whole body motion, which has been difficult for other types of robots. This article focuses on the manipulation by a humanoid robot of large objects by introducing pivoting motions (Aiyama et al 1993). This manipulation has several advantages such as dexterity and stability over other methods like. Section ‘Simulation’ gives simulation results using the dynamic simulator OpenHRP, whose results are verified by hardware experiments using HRP-2 humanoid platform described in section ‘Experimental results’ before concluding the article
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