An approach toward Human-like Motion Control of a Dual Arm Robot for Picking Heavy Objects
- An approach toward Human-like Motion Control of a Dual Arm Robot for Picking Heavy Objects
- 이동현; Duc Trong Tran; 오용환
- Human-like Motion; Dual Arm robot; Picking Heavy Object; Balance control
- Issue Date
- IEEE-RAS International Conference on
Humanoid Robots (Humanoids)
- , 1069-1074
- This paper presents a novel method for controlling
a dual arm robot to pick heavy objects. The motivation for
this study is inspired from the observation of human motion
in their daily activities. Two reflex actions are proposed in
this work. The first reflex is designed to control the COM of
the robot when its stability is endangered by the effect of the
object weight. Static stability criterion is used to observe this
dangerous effect and a simple minimization technique is used
to generate the reflex torque. The second reflex aims to reduce
the consumed torque of the motors by simply finding a pose at
which the gravity term minimized. A control law is suggested
for a dual arm robot to perform picking motion for both two
cases with known and unknown objects. The control state space
is the operational space and no inverse kinematics are needed.
Finally, several dynamic simulations are introduced to validate
the efficiency of the proposed controller.
- Appears in Collections:
- KIST Publication > Conference Paper
- Files in This Item:
There are no files associated with this item.
- RIS (EndNote)
- XLS (Excel)
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.