Title :
Pivoting based manipulation by humanoids: a controllability analysis
Author :
Yoshida, Eiichi ; Poirier, Mathieu ; Laumond, Jean-Paul ; Alami, Rachid ; YOKOI, Kazuhito
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
Pivoting manipulation has such advantages as dexterity and safety over other methods to move bulky or heavy objects. In this paper we aim to show that a polyhedral object can be displaced to arbitrary position and orientation on a plane (i.e. such a pivoting system is controllable). More than that we show it is small time controllable, i.e. the reachable space from a starting point contains always a neighbor no matter how cluttered the environment is. As a consequence of this analysis, we propose a steering method to plan a manipulation path to be performed by a humanoid robot: first we use a classical nonholonomic path planner that accounts for the robot motion constraints, and then we transform that path into a sequence of pivoting operations. While the feasibility of elementary pivoting tasks has been already experienced by the humanoid robot HRP-2, we present here the very first simulations of the plans generated by our steering method.
Keywords :
controllability; humanoid robots; legged locomotion; motion control; path planning; steering systems; HRP-2; controllability analysis; humanoid robot; nonholonomic path planner; pivoting based manipulation; robot motion constraints; steering method; Controllability; Humanoid robots; Humans; Intelligent robots; Legged locomotion; Mobile robots; Motion planning; Notice of Violation; Stability; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399212