Abstract:
Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotio...Show MoreMetadata
Abstract:
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 statistical 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.
Published in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
Date of Conference: 28 September 2004 - 02 October 2004
Date Added to IEEE Xplore: 14 February 2005
Print ISBN:0-7803-8463-6
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Control Method ,
- External Force ,
- Asteraceae ,
- Humanoid Robot ,
- Mobile Manipulator ,
- Balance Control ,
- Manipulation Tasks ,
- Body Motion ,
- Dexterous Manipulation ,
- Control Strategy ,
- Dynamics Simulations ,
- Evaluation Of Function ,
- Current Position ,
- Angular Velocity ,
- Coefficient Matrix ,
- Angular Momentum ,
- Jacobian Matrix ,
- Robot Control ,
- Body Balance ,
- Position Of The Robot ,
- Real Robot ,
- Linear Momentum ,
- Shoulder Position ,
- World Frame ,
- Desired Composition ,
- Center Of Mass Motion ,
- Reference Velocity ,
- Origin Of Frame
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Control Method ,
- External Force ,
- Asteraceae ,
- Humanoid Robot ,
- Mobile Manipulator ,
- Balance Control ,
- Manipulation Tasks ,
- Body Motion ,
- Dexterous Manipulation ,
- Control Strategy ,
- Dynamics Simulations ,
- Evaluation Of Function ,
- Current Position ,
- Angular Velocity ,
- Coefficient Matrix ,
- Angular Momentum ,
- Jacobian Matrix ,
- Robot Control ,
- Body Balance ,
- Position Of The Robot ,
- Real Robot ,
- Linear Momentum ,
- Shoulder Position ,
- World Frame ,
- Desired Composition ,
- Center Of Mass Motion ,
- Reference Velocity ,
- Origin Of Frame
