Title :
Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking
Author :
Takubo, Tomohito ; Inoue, Kenji ; Arai, Tatsuo
Author_Institution :
Department of Systems Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan takubo@arai-lab.sys.es.osaka-u.ac.jp
Abstract :
This paper discusses pushing a heavy object by a humanoid robot. We modify the whole body motion considering the hand reflecting forces for the walking pattern of a humanoid robot. By assuming that linear and angular momentum of a humanoid robot are calculated, we define the projection of the Center of the Mass(CoM) as” Dynamically Complemental Zero Moment Point(DCZMP)”, when external forces act to the end-effectors. We propose a new method using the DCZMP for the modification control of CoM position with balancing control. The robot can keep the dynamical balance considering the DCZMP and the walking velocity in both single and double support phase. In addition, for controlling pushing force, we implement an impedance controller with the manipulation and walking velocity controller. The effectiveness of the proposed method is confirmed by simulations and experiments.
Keywords :
DCZMP; Humanoid robot; Impedance control; Pushing; Biological system modeling; Force control; Humanoid robots; Humans; Impedance; Laboratories; Legged locomotion; Robot control; Robot kinematics; Velocity control; DCZMP; Humanoid robot; Impedance control; Pushing;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570359