Paper Info
Title
Humanoid Robot Motion Generation Scheme For Tasks Utilizing Impulsive Force
Abstract
In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.
Year
DOI
Venue
2012
10.1142/S0219843612500089
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Keywords
Field
DocType
Impact motion, humanoid robot, impulsive force
Postural stability,Heuristic,Computer science,Simulation,Motion generation,Three dimensional model,Robot,Sequential quadratic programming,Humanoid robot
Journal
Volume
Issue
ISSN
9
2
0219-8436
Citations 
PageRank 
References 
0
0.34
6
Authors
7
Name
Order
Citations
PageRank
Teppei Tsujita13813.50
Konno Atsushi236665.85
Shunsuke Komizunai363.34
Yuki Nomura400.68
Tomoya Myojin591.18
Yasar Ayaz66311.39
masaru uchiyama758790.30