Whole-body Pushing Manipulation of Large and Heavy Objects by Life-sized Humanoidbased on Contact Posture Planning and Online Footstep Modification

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  • Murooka Masaki
    The University of Tokyo, Graduate School of Information Science and Technology
  • Kojio Yuta
    The University of Tokyo, Graduate School of Information Science and Technology
  • Nozawa Shunichi
    The University of Tokyo, Graduate School of Information Science and Technology
  • Kakiuchi Yohei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Okada Kei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Inaba Masayuki
    The University of Tokyo, Graduate School of Information Science and Technology

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Other Title
  • 等身大ヒューマノイドにおける接触姿勢計画と歩行動作修正に基づく大型重量物全身押し操作行動の実現
  • トウシンダイ ヒューマノイド ニ オケル セッショク シセイ ケイカク ト ホコウ ドウサ シュウセイ ニ モトズク オオガタ ジュウリョウブツ ゼンシン オシ ソウサ コウドウ ノ ジツゲン

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Abstract

Humanoid robot has high degree-of-freedom around the whole-body and is expected to achieve the various types of manipulation. Pushing manipulation contacting with whole-body region tends to be effective in terms of whole-body joint torque. In this paper, we propose the whole-body posture generation method and the balancing control method in order to achieve whole-body pushing manipulation. The whole-body contact posture is generated by applying the geometric collision detection and the balancing modification to the random-based posture. The walking motion is stabilized by the footstep modification based on capture point. The effectiveness of the proposed methods are verified by the experiment, in which the life-sized humanoid robot carries the object by pushing with whole-body region in the real and simulation environment.

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