Whole Body Cooperative Tasks and Static Stability Evaluations for a Humanoid Robot

Yoonkwon Hwang, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    34 Citations (Scopus)

    Abstract

    Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.

    Original languageEnglish
    Pages1901-1906
    Number of pages6
    Publication statusPublished - 2003 Dec 26
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CountryUnited States
    CityLas Vegas, NV
    Period03/10/2703/10/31

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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