Pivoting a large object: whole-body manipulation by a humanoid robot | Zendy

Eiichi Yoshida | Zendy; Pierre Blazevic | Zendy; Vincent Hugel | Zendy; Kazuhito Yokoi | Zendy; Kensuke Harada | Zendy

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Pivoting a large object: whole-body manipulation by a humanoid robot

Author(s) -

Eiichi Yoshida,

Pierre Blazevic,

Vincent Hugel,

Kazuhito Yokoi,

Kensuke Harada

Publication year - 2006

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1533/abbi.2006.0031

Subject(s) - humanoid robot , object (grammar) , human–computer interaction , computer science , computer vision , robot , artificial intelligence , simulation

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

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