Mobile manipulation of humanoid robots-analysis of manipulability and stability in mobile manipulation

Author

Yoshida, Haruyuki ; Inoue, Kenji ; Arai, Tatsuo ; Mae, Yasushi

Author_Institution

Dept. of Syst. & Human Sci., Osaka Univ., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

1924

Abstract

This paper describes mobile manipulation of humanoid robots. A humanoid robot is a kind of integrated machines: two arm and two leg mechanism. It could be well applied to mobile manipulation in nonroutine task automation. The main objective of the mobile manipulation is to obtain versatile and efficient manipulation by the arms. In this respect the legs are required to assist the arms obtaining their high manipulability by changing step length and timing of step motion. Accordingly, the required motion of the legs in mobile manipulation is different from conventional biped locomotion. From this point of view, the relationship between manipulability of the arm and various leg motions is analyzed and evaluated by computer simulations

Keywords

legged locomotion; manipulators; stability; computer simulations; humanoid robots; leg motion; manipulability; mobile manipulation; nonroutine task automation; stability; step length; step motion timing; Arm; Humanoid robots; Leg; Legged locomotion; Mobile computing; Mobile robots; Motion analysis; Robot kinematics; Robotics and automation; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895252

Filename

895252