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Thesis
A humanoid robot pushing model inspired by human motion
Master of Science (M.S.), Drexel University
Jun 2012
DOI:
https://doi.org/10.17918/etd-3871
Abstract
This thesis explores an observed method used by humans when pushing a large object of unknown mass. Body motion and reaction forces are analyzed for feet-apart pushing with varying stance length. It is found that, via articulation of the waist, a human will push their static zero-moment point (ZMP) as far forward as possible prior to pushing. Along with an extended back leg, this provides a larger support region in which the ZMP can move before stability is lost. Using this motion, the subject can produce a larger force than if the waist is constrained. Further, in this stance the subject is stable without object contact and can exert a range of forces by controlling mass distribution at the feet. For this increases in force exertion and stability, a linearized double inverted pendulum model with a feet-apart stance is proposed for use in the humanoid robot pushing of an unknown mass. Using the human pushing data and our humanoid, HUBO+, the advantage of this model and the added degree of freedom is shown against the commonly used single inverted pendulum model for humanoid robot pushing.
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Details
- Title
- A humanoid robot pushing model inspired by human motion
- Creators
- Alexander N. Alspach - DU
- Contributors
- Paul Yu Oh (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Mechanical Engineering (and Mechanics) [Historical]; Drexel University
- Other Identifier
- 3871; 991014632384004721