ICRA 2012 Paper Abstract

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Paper TuD02.1

Nozawa, Shunichi (The University of Tokyo), Kakiuchi, Yohei (The University of Tokyo), Okada, Kei (The University of Tokyo), Inaba, Masayuki (The University of Tokyo)

Controlling the Planar Motion of a Heavy Object by Pushing with a Humanoid Robot Using Dual-Arm Force Control

Scheduled for presentation during the Regular Session "Humanoid Motion Planning and Control" (TuD02), Tuesday, May 15, 2012, 16:30−16:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Humanoid Robots, Mobile Manipulation, Motion Control of Manipulators

Abstract

Pushing heavy and large objects in a plane requires generating correct operational forces that compensate for unpredictable ground-object friction forces. This is a challenge because the reaction forces from the heavy object can easily cause a humanoid robot to slip at its feet or lose balance and fall down. Although previous research has addressed humanoid robot balancing problems to prevent falling down while pushing an object, there has been little discussion about the problem of avoiding slipping due to the reaction forces from the object. We extend a full-body balancing controller by simultaneously controlling the reaction forces of both hands using dual-arm force control. The main contribution of this paper is a method to calculate dual-arm reference forces considering the moments around the vertical axis of the humanoid robot and objects. This method involves estimating friction forces based on force measurements and controlling reaction forces to follow the reference forces. We show experimental results on the HRP-2 humanoid robot pushing a 90[kg] wheelchair.

 

 

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