The 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, Hyatt Regency, St. Louis, USA, Oct. 11-15, 2009

IROS 2009 Paper Abstract


Paper MoIIT1.1

Arisumi, Hitoshi (National Inst. of AIST), Chardonnet, Jean-Remy (CNRS - AIST), Yokoi, Kazuhito (National Inst. of AIST)

Whole-Body Motion of a Humanoid Robot for Passing through a Door - Opening a Door by Impulsive Force -

Scheduled for presentation during the Regular Sessions "Humanoid Robot Body Motion" (MoIIT1), Monday, October 12, 2009, 11:00−11:20, Grand A

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, Hyatt Regency St. Louis Riverfront, St. Louis, USA

This information is tentative and subject to change. Compiled on March 28, 2015

Keywords Humanoid Robots, Dynamics, Manipulation Planning


There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.



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