NDLI: Whole-body motion of a humanoid robot for passing through a door

Content Provider	IEEE Xplore Digital Library
Author	Arisumi, H. Chardonnet, J.-R. Yokoi, K.
Copyright Year	2009
Description	Author affiliation: Intelligent Systems Research Institute of the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Ibaraki 305-8568, Japan (Chardonnet, J.-R.; Yokoi, K.)
Abstract	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.
Starting Page	428
Ending Page	434
File Size	953535
Page Count	7
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354087
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Intelligent robots Manipulator dynamics Service robots Mobile robots Biological system modeling Stability USA Councils Analytical models Hardware Impact Humanoid robot Dynamic whole body manipulation ZMP
Content Type	Text
Resource Type	Article

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