Whole-body motion of a Humanoid robot for passing through a door - Opening a door by impulsive force

被引：21

作者：

Arisumi, Hitoshi ^{[1
]}

Chardonnet, Jean-Remy ^{[1
]}

Yokoi, Kazuhito ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Res Inst, Tsukuba, Ibaraki 3058568, Japan

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

Humanoid robot; Dynamic whole body manipulation; ZMP; Impact;

D O I：

10.1109/IROS.2009.5354087

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.

引用

页码：428 / 434

页数：7