人間型ロボットの作業移動 : 手先外力を考慮した重心位置の制御法 Mobile Manipulation Control for Humanoid Robots : Control of Center of Mass Position Considering the Hand Reflect Forces

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抄録

Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when the manipulator tip trajectory is decided. For the dexterous and powerful manipulation, the robot has to cope with the expected and unexpected forces acting to the hands. By assuming the whole body balance, we define the "ZMP Based Reference Center of Mass (ZBC) ", which is projection of the Center of Mass (COM) to the ground of world coordinate frame, when the external forces act to the end-effectors. We propose to use the ZBC for modification control of COM with balancing control. The method is implemented to the conventional mobile manipulation control method and we construct the system which consists of four controllers: "Foothold determination", "Walking pattern generator", "COM modification controller" and "Momentum controller". The experimental results show that a humanoid robot can push a heavy object by changing the foot stamps and the COM position.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 24(5), 614-622, 2006-07-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018009414
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    8038966
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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