Pivoting based manipulation by a humanoid robot
Résumé
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.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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