Conference proceeding
Controlling and Maximizing Humanoid Robot Pushing Force through Posture
2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), pp.158-162
01 Jan 2012
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a method to expand these force limits by changing a humanoid robot's posture. Based on Double Inverted Pendulum (DIP) model, the force limitation that the humanoid robot can support is calculated. With a feet-apart strategy and whole-body posture, a method is proposed to maximize the force limitation under the condition that the height of the target object is constant. Finally, comparison of simulation and experimental data validates the approach.
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Details
- Title
- Controlling and Maximizing Humanoid Robot Pushing Force through Posture
- Creators
- Youngbum Jun - Drexel UniversityAlex Alspach - Drexel Univ, Philadelphia, PA 19104 USAPaul Oh - Drexel UniversityIEEE
- Publication Details
- 2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), pp.158-162
- Conference
- 2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL), 9th
- Publisher
- IEEE
- Number of pages
- 5
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348913404721
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InCites Highlights
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- Web of Science research areas
- Computer Science, Artificial Intelligence
- Engineering, Electrical & Electronic
- Robotics