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 proceedingConference 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 languageEnglish
    Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
    PublisherIEEE Computer Society
    Pages2548-2553
    Number of pages6
    ISBN (Print)0780389123, 9780780389120
    DOIs
    Publication statusPublished - 2005

    Publication series

    Name2005 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

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