Pivoting based manipulation by a humanoid robot

被引：0
|
作者：
Eiichi Yoshida
Mathieu Poirier
Jean-Paul Laumond
Oussama Kanoun
Florent Lamiraux
Rachid Alami
Kazuhito Yokoi
机构：
[1] National Institute of Advanced Industrial Science and Technology (AIST),CNRS
[2] University of Toulouse; UPS,AIST JRL (Joint Robotics Laboratory), UMI3218/CRT
[3] INSA,LAAS
[4] INP,CNRS
[5] ISAE; LAAS,Humanoid Research Group, Intelligent Systems Research Institute
[6] National Institute of Advanced Industrial Science and Technology (AIST),undefined
来源：
Autonomous Robots | 2010年 / 28卷
关键词：
Manipulation; Humanoid; Motion planning; Whole-body motion;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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 small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments.
引用
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页码：77 / 88
页数：11
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