A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight
A full-body motion control method for a humanoid robot based on on-line estimation of the operational force of an object with an unknown weight
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DOI：
10.1109/iros.2010.5651652
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
Shunichi Nozawa;Ryohei Ueda;Youhei Kakiuchi;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Shunichi Nozawa;Ryohei Ueda;Youhei Kakiuchi;K. Okada;M. Inaba
本文提出了一种仿人机器人操纵重物的新方法。该方法在对作战力量进行在线估计的基础上确定操纵策略。我们将这些功能与实时控制器集成在一起，该控制器控制外力并保持全身平衡。本文工作的特点在于，由于全身控制系统包括基于在线估计的操作力的操作策略切换，该系统使仿人机器人既可以操纵重物，也可以操纵轻物体。我们整个系统的有效性在我们的实验中得到了证实，在实验中，一个人形机器人在估计物体重量的同时操纵了高达12公斤的物体。
In this paper we propose a new method to manipulate heavy objects for a humanoid robot. In this method the manipulation strategy is determined based on on-line estimation of the operational force. We integrate these functions with a real-time controller that controls the external force and maintains full-body balance. The feature point of our work is that since a full-body control system includes switching of the manipulation strategy based on the operational force estimated on-line the system enables a humanoid robot to manipulate heavy objects as well as light objects. The effectiveness of our whole system is confirmed in our experiments, in which a humanoid robot manipulates up to 12[kg] while estimating the object's weight.