Working postures for humanoid robots to generate large manipulation force

Atsushi Konno; Yoonkwon Hwang; Seikou Tamada; Masaru Uchiyama

doi:10.1109/IROS.2005.1545237

Working postures for humanoid robots to generate large manipulation force

Atsushi Konno, Yoonkwon Hwang, Seikou Tamada, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

When a human needs to apply a large force to an environment, the human will take an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the Sequential Quadratic Programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contribute to make the manipulation force larger.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	2548-2553
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545237
Publication status	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Humanoid robot
Manipulation force
Whole body motion
Working posture

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2005.1545237

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Cite this

Konno, A., Hwang, Y., Tamada, S., & Uchiyama, M. (2005). Working postures for humanoid robots to generate large manipulation force. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2548-2553). [1545237] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545237

Working postures for humanoid robots to generate large manipulation force. / Konno, Atsushi; Hwang, Yoonkwon; Tamada, Seikou; Uchiyama, Masaru.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 2548-2553 1545237 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Konno, A, Hwang, Y, Tamada, S & Uchiyama, M 2005, Working postures for humanoid robots to generate large manipulation force. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545237, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 2548-2553. https://doi.org/10.1109/IROS.2005.1545237

Konno A, Hwang Y, Tamada S, Uchiyama M. Working postures for humanoid robots to generate large manipulation force. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society. 2005. p. 2548-2553. 1545237. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545237

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