Kim, Sung-Kyun Lee, Dong-hyun Hong, Seokmin Oh, Yonghwan Oh, Sang-Rok 2024-01-19T12:09:38Z 2024-01-19T12:09:38Z 2022-03-07 2013 2153-0858 https://pubs.kist.re.kr/handle/201004/115427 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 bound-proportional CoM planner is proposed. Along with the CoM planner, whole-body balance and grasping controller for a dual-arm robot is suggested in a simple and computationally efficient structure. Dynamic simulation is conducted for validation, and showed competent results. English IEEE From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-and-Place Tasks Conference 1 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1155 - 1161 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 1155 1161 US Tokyo, JAPAN 2013-11-03 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 000331367401039 2-s2.0-84893715323 Proceedings Paper