TY - GEN
T1 - Analysis of pushing manipulation by humanoid robot BHR-2 during dynamic walking
AU - Xiao, Tao
AU - Li, Min
AU - Huang, Qiang
AU - Zhang, Weimin
AU - He, Le
PY - 2007
Y1 - 2007
N2 - Taking pushing handcart as a typical example, this paper describes pushing manipulation by humanoid robot BHR-2 during dynamic walking. When robot moves, the displacement of shoulder which is same as waist will affect hands motion without any control of arms. To perform the pushing manipulation, it has to achieve dual arm manipulability that to keep both hands' posture according with desired motion mode of manipulation task during movement. We analyze characteristics of the pushing manipulation, establish task modeling, present the kinematics of dual arm and realize arm motion for manipulation. The leg trajectory is known and arm trajectory is calculated real-time with inverse kinematics. The effectiveness of dual arm manipulability for pushing handcart during dynamic walking is demonstrated by simulation and experiment.
AB - Taking pushing handcart as a typical example, this paper describes pushing manipulation by humanoid robot BHR-2 during dynamic walking. When robot moves, the displacement of shoulder which is same as waist will affect hands motion without any control of arms. To perform the pushing manipulation, it has to achieve dual arm manipulability that to keep both hands' posture according with desired motion mode of manipulation task during movement. We analyze characteristics of the pushing manipulation, establish task modeling, present the kinematics of dual arm and realize arm motion for manipulation. The leg trajectory is known and arm trajectory is calculated real-time with inverse kinematics. The effectiveness of dual arm manipulability for pushing handcart during dynamic walking is demonstrated by simulation and experiment.
KW - Arm manipulability
KW - Dynamic walking
KW - Humanoid robot
KW - Pushing manipulation
UR - http://www.scopus.com/inward/record.url?scp=40649109117&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2007.4339096
DO - 10.1109/ICAL.2007.4339096
M3 - Conference contribution
AN - SCOPUS:40649109117
SN - 1424415314
SN - 9781424415311
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
SP - 3000
EP - 3005
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
T2 - 2007 IEEE International Conference on Automation and Logistics, ICAL 2007
Y2 - 18 August 2007 through 21 August 2007
ER -