Whole-Body Humanoid Balance Control with Dynamically Loading/Unloading Objects
- Whole-Body Humanoid Balance Control with Dynamically Loading/Unloading Objects
- 차영수; 홍석민; 김도익; 유범재; 오상록
- humanoid; balancing; F/T sensor; object; delivering
- Issue Date
- International Conference on Robotics and Biomimetics (ROBIO 2009)
- , 1687-1691
- When a humanoid lifts a heavy object, or carries
an object in a bag or a carriage, it needs to change the reference
CoM(center of mass) and ZMP(Zero Moment Position) in order
not to fall down. However, it is not natural to design a reference
CoM and ZMP to lift or to carry an object every time. In this
paper, objects held by a hand are considered as an augmented
virtual link connected at the end of the hand, and it is included
in calculating the humanoid CoM. The mass augmentation is
done in real time and thus objects can be loaded and unloaded
dynamically without any change of reference CoM and ZMP.
The balanced pose of the humanoid is obtained by using
MECoM(Motion-Embedded CoM) Jacobian resolution method.
The proposed method is verified by an experiment.
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- KIST Publication > Conference Paper
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