From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks

Title
From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks
Authors
김성균이동현홍석민오용환오상록
Keywords
Human Motion; Whole-Body Control; Dual Arm; Pick-and-Place
Issue Date
2013-11
Publisher
IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems) 2013
Citation
, 1155-1161
Abstract
Human’s action strategy is a good source of robot controller design. For there is no decisive criterion on balance control during manipulation tasks, human motion data are obtained and analyzed in this paper. Based on the observation of the center of mass (CoM) being proportional to target object distance but limited inside the supporting polygon, the boundproportional CoM planner is proposed. Along with the CoM planner, whole-body balance and grasping controller for a dualarm robot is suggested in a simple and computationally efficient structure. Dynamic simulation is conducted for validation, and showed competent results.
URI
http://pubs.kist.re.kr/handle/201004/46651
Appears in Collections:
KIST Publication > Conference Paper
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