Whole Body Cooperative Tasks and Static Stability Evaluations for a Humanoid Robot

Yoonkwon Hwang; Atsushi Konno; Masaru Uchiyama

Whole Body Cooperative Tasks and Static Stability Evaluations for a Humanoid Robot

Yoonkwon Hwang, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to conference › Paper › peer-review

Abstract

Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.

Original language	English
Pages	1901-1906
Number of pages	6
Publication status	Published - 2003 Dec 26
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

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title = "Whole Body Cooperative Tasks and Static Stability Evaluations for a Humanoid Robot",

abstract = "Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.",

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language = "English",

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AU - Hwang, Yoonkwon

AU - Konno, Atsushi

AU - Uchiyama, Masaru

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Y1 - 2003/12/26

N2 - Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.

AB - Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.

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T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Whole Body Cooperative Tasks and Static Stability Evaluations for a Humanoid Robot

Abstract

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ASJC Scopus subject areas

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