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Pivoting based manipulation by a humanoid robot

Abstract : In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments.
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https://hal.laas.fr/hal-01972688
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Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, et al.. Pivoting based manipulation by a humanoid robot. Autonomous Robots, 2010, 28 (1), pp.77-88. ⟨10.1007/s10514-009-9143-x⟩. ⟨hal-01972688⟩

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