TY - GEN
T1 - Mobile manipulation of humanoid robots -control method for CoM position with external force
AU - Takubo, Tomohito
AU - Inoue, Kenji
AU - Sakata, Kotaro
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2004
Y1 - 2004
N2 - Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when the manipulator tip trajectory is decided. For the dexterous manipulation, the robot has to cope with the unexpected forces acting to the hands. By assuming the statical balance, we define the projection of the CoM as "Complement Zero Moment Point(CZMP)", when the external forces act to the end-effectors. We propose to use the CZMP for the modification control of CoM with balancing control. The method is implemented to the mobile manipulation control method and the effectiveness is confirmed by the experimental results.
AB - Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when the manipulator tip trajectory is decided. For the dexterous manipulation, the robot has to cope with the unexpected forces acting to the hands. By assuming the statical balance, we define the projection of the CoM as "Complement Zero Moment Point(CZMP)", when the external forces act to the end-effectors. We propose to use the CZMP for the modification control of CoM with balancing control. The method is implemented to the mobile manipulation control method and the effectiveness is confirmed by the experimental results.
UR - https://www.scopus.com/pages/publications/14044264252
M3 - Conference contribution
AN - SCOPUS:14044264252
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 1180
EP - 1185
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -