Paper Info
Title
Whole-body Posture Generation by Adjusting Tool Force with CoG Movement: Application to Soil Digging
Abstract
Exerting large force is one of the difficult problems for a humanoid robot. In particular, the task which needs large force with a tool or the task whose reference force is unknown such as digging are more difficult. The task of digging was realized in the previous research, but with that method the robot cannot exert large force even though force is not enough for digging because the decision method of reference shovel force is only changing the direction of the current shovel force, and modification of the robot's CoG (center of gravity) is only used for balancing. In this paper, we proposed methods to determine the reference shovel force which is necessary enough to realize the task of digging, and generate feasible posture which exerts the reference shovel force within joint torque limits. To verify the methods, we conducted experiments of the task of digging using a life-size humanoid robot JAXON. JAXON succeeded digging with some soil from soft to hard.
Year
DOI
Venue
2019
10.1109/Humanoids43949.2019.9035006
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Keywords
DocType
ISSN
tool force,soil digging,reference shovel force,humanoid robot,whole-body posture generation,CoG movement,JAXON,center of gravity
Conference
2164-0572
ISBN
Citations 
PageRank 
978-1-5386-7631-8
0
0.34
References 
Authors
0
7
Name
Order
Citations
PageRank
Takayuki Murooka102.70
Riku Shigematsu201.01
Kunio Kojima336.20
Fumihito Sugai499.33
Youhei Kakiuchi5225.69
Kei Okada6534118.08
Masayuki Inaba72186410.27