Pushing manipulation by humanoid considering two-kinds of ZMPs

被引：73

作者：

Harada, K ^{[1
]}

Kajita, S ^{[1
]}

Kaneko, K ^{[1
]}

Hirukawa, H ^{[1
]}

机构：

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

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/ROBOT.2003.1241827

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i. e., the conventional "Zero Moment Point (ZMP)" considering all sources of the force/moment acting in the foot supporting area, and the "Generalized Zero Moment Point (GZMP)" which is an generalization of ZMP for a humanoid robot whose hands do not contact with an object. We first obtain the stable region of the GZMP on the floor. Moreover, since the difference between these two ZMPs corresponds to the magnitude of contact force applied by the hands, we propose the pushing manipulation by a humanoid robot by modifying the desired ZMP trajectory for a humanoid. The effectiveness of the proposed method is confirmed by simulation results.

引用

页码：1627 / 1632

页数：6

共 19 条

[1] Postural stability of biped robots and the foot-rotation indicator (FRI) point [J].

Goswami, A .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1999, 18 (06) :523-533

[2]

Harada K, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P2485, DOI 10.1109/ROBOT.2002.1013605

[3]

Hirai K, 1998, IEEE INT CONF ROBOT, P1321, DOI 10.1109/ROBOT.1998.677288

[4]

HIRUKAWA H, 2001, P INT S ROB RES

[5] A platform for robotics research based on the remote-brained robot approach [J].

Inaba, M ;

Kagami, S ;

Kanehiro, F ;

Hoshino, Y ;

Inoue, H .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2000, 19 (10) :933-954

[6]

Inoue, 1999, P 17 ANN C ROB SOC J, P1193

[7]

INOUE H, 2000, P 1 IEEE RAS INT C H

[8]

Inoue K., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P2217, DOI 10.1109/ROBOT.2000.846357

[9]

Kagami S, 2000, LECT NOTES CONTR INF, V250, P499

[10]

Kajita S, 2001, IEEE INT CONF ROBOT, P2299, DOI 10.1109/ROBOT.2001.932965

← 1 2 →