Pushing motion of humanoid robot on dynamic locomotion

Motomi Ikebe; Toshiaki Tsuji; Yoshiharu Sato; Koichiro Tsuji; Kouhei Ohnishi

Pushing motion of humanoid robot on dynamic locomotion

Motomi Ikebe, Toshiaki Tsuji, Yoshiharu Sato, Koichiro Tsuji, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper

1 Citation (Scopus)

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
Pages	90-95
Number of pages	6
Publication status	Published - 2004 Dec 1
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

Keywords

Dynamic stability
Humanoid robot
Pushing motion
Walking pattern generator

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

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Ikebe, M., Tsuji, T., Sato, Y., Tsuji, K., & Ohnishi, K. (2004). Pushing motion of humanoid robot on dynamic locomotion. 90-95. Paper presented at 2004 IEEE International Conference on Industrial Technology, ICIT, Hammamet, Tunisia.

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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.

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