Paper Info
Title
Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching.
Abstract
Humanoid robot has the potential to achieve various manipulation strategies such as lifting, pushing, pivoting and rolling. Deciding which strategies to apply for the object manipulation is difficult because the appropriate manipulation motion varies greatly depending on the object property. We propose the planning method of whole-body manipulation for various manipulati on strategies. In order to plan the manipulation in the global scope, we generate the graph representing all the possible object poses and operation contacts. By searching the feasible path in the graph, we plan the sequence of object states satisfying the kinematics and dynamics conditions. Finally, the robot postures for the whole-body manipulation are generated from the object states. The proposed method is efficient because the tractable object configuration is first planned in the global scope and then the complicated robot configuration is calculated. We show the effectiveness of the proposed method by planning the humanoid robot motion for various manipulation strategies automatically from the object and robot models.
Year
DOI
Venue
2017
10.1080/01691864.2016.1266965
ADVANCED ROBOTICS
Keywords
Field
DocType
Whole-body manipulation,manipulation planning,humanoid robot,graph search,quadratic programming
Computer vision,Graph,Kinematics,Global planning,Method,Computer science,Property (programming),Control engineering,Artificial intelligence,Quadratic programming,Robot,Humanoid robot
Journal
Volume
Issue
ISSN
31.0
6
0169-1864
Citations 
PageRank 
References 
3
0.43
17
Authors
6
Name
Order
Citations
PageRank
Masaki Murooka1238.09
Ryohei Ueda2687.98
Shunichi Nozawa38515.81
Yohei Kakiuchi42113.94
Kei Okada5534118.08
Masayuki Inaba62186410.27