From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks
- From Human Motion Analysis to Whole-Body Control of a Dual-Arm Robot for Pick-And-Place Tasks
- 김성균; 이동현; 홍석민; 오용환; 오상록
- Human Motion; Whole-Body Control; Dual Arm; Pick-and-Place
- Issue Date
- IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems) 2013
- , 1155-1161
- 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.
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