Mobile manipulation of humanoid robots-optimal posture for generating large force based on statics

Author

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

Author_Institution

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

Volume

3

fYear

2002

fDate

2002

Firstpage

2271

Lastpage

2276

Abstract

The optimal posture of a humanoid robot for generating large desired force at its hands is discussed. The robot is required to stand stably and to support the force and its weight under the constraint of maximum joint torques. Furthermore, it is important to keep the robot controllable against sudden change in the force. From this point of view, an evaluation function for the task with large force based on statics is proposed; we focus on Jacobian matrices of two arms and legs to give the robot adaptability to force change. Then the method of obtaining the optimal posture, footholds and joint torques of the robot is described. Effectiveness of the method are verified through computer simulations

Keywords

Jacobian matrices; dexterous manipulators; digital simulation; mobile robots; position control; robot kinematics; Jacobian matrices; adaptability; arms; footholds; hands; humanoid robots; large force generation; legs; maximum joint torques; mobile manipulation; optimal posture; Arm; Computer simulation; Force control; Hardware; Humanoid robots; Humans; Jacobian matrices; Leg; Legged locomotion; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013570

Filename

1013570