@inproceedings{5f14481dbd904823aa7eee055d68af12,
title = "Working postures for humanoid robots to generate large manipulation force",
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.",
keywords = "Humanoid robot, Manipulation force, Whole body motion, Working posture",
author = "Atsushi Konno and Yoonkwon Hwang and Seikou Tamada and Masaru Uchiyama",
year = "2005",
doi = "10.1109/IROS.2005.1545237",
language = "English",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
publisher = "IEEE Computer Society",
pages = "2548--2553",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
}