Abstract
This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Industrial Technology |
| Pages | 90-95 |
| Number of pages | 6 |
| Volume | 1 |
| Publication status | Published - 2004 |
| Event | 2004 IEEE International Conference on Industrial Technology, ICIT - Hammamet, Tunisia Duration: 2004 Dec 8 → 2004 Dec 10 |
Other
| Other | 2004 IEEE International Conference on Industrial Technology, ICIT |
|---|---|
| Country | Tunisia |
| City | Hammamet |
| Period | 04/12/8 → 04/12/10 |
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Keywords
- Dynamic stability
- Humanoid robot
- Pushing motion
- Walking pattern generator
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Software
- Industrial and Manufacturing Engineering
Cite this
Pushing motion of humanoid robot on dynamic locomotion. / Ikebe, Motomi; Tsuji, Toshiaki; Sato, Yoshiharu; Tsuji, Koichiro; Ohnishi, Kouhei.
Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1 2004. p. 90-95.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Pushing motion of humanoid robot on dynamic locomotion
AU - Ikebe, Motomi
AU - Tsuji, Toshiaki
AU - Sato, Yoshiharu
AU - Tsuji, Koichiro
AU - Ohnishi, Kouhei
PY - 2004
Y1 - 2004
N2 - This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved.
AB - This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved.
KW - Dynamic stability
KW - Humanoid robot
KW - Pushing motion
KW - Walking pattern generator
UR - http://www.scopus.com/inward/record.url?scp=27944470882&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=27944470882&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:27944470882
VL - 1
SP - 90
EP - 95
BT - Proceedings of the IEEE International Conference on Industrial Technology
ER -