Shin, Sung Yul Kim, ChangHwan 2024-01-20T07:31:22Z 2024-01-20T07:31:22Z 2021-09-05 2015-04 0278-0046 https://pubs.kist.re.kr/handle/201004/125617 The robot manipulation in human environment is a challenging issue because the human environment is complex, dynamic, unstructured, and difficult to perceive reliably. In order to implement promising robot applications in our daily lives, robots need to perform manipulation tasks within human environment. Particularly for a humanoid robot, the manipulability of the objects is essential to assist the humans in human environment. This paper presents a method for manipulating an object with both arms of a humanoid robot. We focus on the generation of human-like movements by using the human motion capture data. Then, the control method based on the virtual dynamics model is proposed to control both the motion and force under the uniform control system. This method empowers the robot to perform the object manipulation task including reaching, grasping, and moving an object in sequence. The proposed algorithm is implemented on a humanoid robot with independent joint controller at each motor; its performance is demonstrated by manipulating an object with both arms. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ROBOTS MOVEMENTS GRASP TASK PAIR Human-Like Motion Generation and Control for Humanoid's Dual Arm Object Manipulation Article 10.1109/TIE.2014.2353017 1 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.62, no.4, pp.2265 - 2276 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 62 4 2265 2276 scie scopus 000351406000024 2-s2.0-84924898417 Automation & Control Systems Engineering, Electrical & Electronic Instruments & Instrumentation Automation & Control Systems Engineering Instruments & Instrumentation Article ROBOTS MOVEMENTS GRASP TASK PAIR Dexterous manipulation grasping human-like motion generation humanoid robot virtual dynamics model (VDM)