TY - GEN
T1 - Internal force control for rolling operation of polygonal prism
AU - Takeo, Gaku
AU - Takubo, Tomohito
AU - Ohara, Kenichi
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2009
Y1 - 2009
N2 - Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering the Imaginary Zero Moment Point (IZMP) of the object to control the balance. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force. The internal force can adjust the rotational force but it should consider the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using torque control. The effectiveness is confirmed through experiments.
AB - Rotation is one of efficient transportation method for big or heavy object. For implementing the rolling operation to the small and light weight robot, the friction control is necessary considering its movable range, balance and actuator power. In this paper, we propose a new rolling manipulation by using whole body motion for multi-legged robot. The weight shift control is implemented considering the Imaginary Zero Moment Point (IZMP) of the object to control the balance. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force. The internal force can adjust the rotational force but it should consider the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using torque control. The effectiveness is confirmed through experiments.
UR - http://www.scopus.com/inward/record.url?scp=77951490218&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420608
DO - 10.1109/ROBIO.2009.5420608
M3 - Conference contribution
AN - SCOPUS:77951490218
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 586
EP - 591
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -