Paper Info
Title
Lifting And Carrying An Object Of Unknown Mass Properties And Friction On The Head By A Humanoid Robot
Abstract
When a humanoid robot carries an object, it should recognize surroundings to avoid obstacles while holding the object stably. Previous methods usually hold an object in front of its body. However, it causes visual occlusions and instability of holding when the object is supported by only its hands. To solve these problems, we propose methods for making a humanoid robot lift and carry an object on the head. By holding an object on the head, a robot can recognize its surroundings easily as the object goes out of its sight. In addition, as the object is supported by both hands and the head, three points in total, carriage becomes more stabilized. We also implement our methods on the humanoid robot JAXON and show the methods can be applied to the real robot.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8625001
2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
Field
DocType
ISSN
Lift (force),Computer science,Simulation,Sight,Robot,Humanoid robot
Conference
2164-0572
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Riku Shigematsu101.01
Shintaro Komatsu211.11
Yohei Kakiuchi32113.94
Kei Okada4534118.08
Masayuki Inaba52186410.27