@inproceedings{074dfc5b67934204af2414bb4eab104c,
title = "Manipulability and stability of pushing operation by humanoid robot BHR-2",
abstract = "Taking pushing handcart as a typical example, this paper presents the research on arm manipulability and manipulation stability of the pushing operation by humanoid robot BHR-2. When robot moves, the waist displacement will affect hand motion without any control of arm. We propose the compensation of wrist position by analysing the relationship of hand motion and waist displacement. Considering the interaction between robot hand and the handcart, the stability control of the pushing operation based on desired pushing force is developed. Dual arm motion is realized for desired hand manipulation trajectory. Leg motion is generated off-line and the desired stable trajectory is obtained based on ZMP (Zero Moment Point) criteria. The effectiveness of arm manipulability and manipulation stability is demonstrated by simulation and experiment.",
keywords = "Arm manipulability, Humanoid robot, Manipulation stability, Pushing operation, ZMP",
author = "Tao Xiao and Qiang Huang and Junyao Gao and Weimin Zhang",
year = "2007",
doi = "10.1109/ROBIO.2007.4522257",
language = "English",
isbn = "9781424417582",
series = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
publisher = "IEEE Computer Society",
pages = "751--756",
booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",
address = "United States",
note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",
}