Title :
Autonomous valve turning with an Atlas humanoid robot
Author :
Newman, Wyatt ; Zheng-Hao Chong ; Cong Du ; Hung, Robert T. W. ; Kit-Hang Lee ; Li Ma ; Ng, Tony W. L. ; Swetenham, Christopher E. ; Tjoeng, Kenneth K. S. ; Weijia Wang
Abstract :
Summary form only given. Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable to human performance.
Keywords :
humanoid robots; legged locomotion; manipulators; path planning; robust control; valves; Atlas humanoid robot; autonomous valve turning; biped locomotion; compliant motion control; dual-arm; integrated valve-turning skill; motion planning; nonprehensile manipulation; palmar manipulation; robust valve turning; supervisory command; valve identification; valve manipulation; Humanoid robots; Legged locomotion; Motion control; Planning; Robustness; Turning; Valves;
Conference_Titel :
Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on
Conference_Location :
Madrid
DOI :
10.1109/HUMANOIDS.2014.7041446
