Manipulability and stability of pushing operation by humanoid robot BHR-2

被引：3
|
作者：
Xiao, Tao [1 ]
Huang, Qiang [1 ]
Gao, Junyao [1 ]
Zhang, Weimin [1 ]
机构：
[1] Beijing Inst Technol, Intelligent Robot Inst, Sch Aerosp Sci & Engn, Beijing 100081, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
pushing operadoy; arm manipulability; manipulation stability; ZMP; humanoid robot;
D O I：
10.1109/ROBIO.2007.4522257
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Taking pushing handcart as a typical example, this paper presents the research on arm manipulability and manipulation stability of the pushing operation by humanoid robot BHR-2. When robot moves, the waist displacement win affect hand motion without any control of arm. We propose the compensation of wrist position by analysing the relationship of hand motion and waist displacement Considering the interaction between robot hand and the handcart, the stability control of the pushing operation based on desired pushing force is developed. Dual arm motion is realized for desired hand manipulation trajectory. Leg motion is generated off-line and the desired stable trajectory is obtained based on ZMP (Zero Moment Point) criteria. The effectiveness of arm manipulability and manipulation stability is demonstrated by simulation and experiment.
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页码：751 / 756
页数：6
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