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Dexterous Humanoid Whole-Body Manipulation by Pivoting InTech
Eiichi Yoshida; Vincent Hugel; Pierre Blazevic; Kazuhito Yokoi; Kensuke Harada.
In this paper a pivoting manipulation method has been presented to realize dexterous manipulation that enables precise displacement of heavy or bulky objects. Through this application, we believe that the application area of humanoid robot can be significantly extended. A sequence of pivoting motion composed of two phases has been proposed, manipulation control and robot stepping motion. In the former phase, an impedance control and balancing control framework was introduced to control the required contact force for grasping and to maintain stability during manipulation respectively. Resolved momentum control is adopted for stepping motion in the latter phase. We then showed a sequence of pivoting motion to transport the objects towards the desired...
Tipo: 24 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/dexterous_humanoid_whole-body_manipulation_by_pivoting
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Inertial Forces Posture Control for Humanoid Robots Locomotion InTech
Victor Nunez; Nelly Nadjar-Gauthier; Kazuhito Yokoi; Pierre Blazevic; Olivier Stasse.
In order to consider a whole body control approach capable of treating different kinds of locomotion modes, the consideration of a motion planing and a the posture controller stages is important. In this paper this approach is presented for the locomotion of a humanoid robot. With the proposed approach motions including aerial phases, can be considered. The inertial force posture controller presented here requires the locomotion to be specified using generalized inertial force, besides the trajectory of the extremities not in contact with the ground. This inertial forces can be planed for having zmp stable motion or desired angular momentum.
Tipo: 8 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/inertial_forces_posture_control_for_humanoid_robots_locomotion
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