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Pivoting based manipulation by a humanoid robot

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Abstract

In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the small-time controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments.

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Authors and Affiliations

  1. CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, 305-8568, Japan

    Eiichi Yoshida

  2. LAAS-CNRS, University of Toulouse; UPS, INSA, INP, ISAE; LAAS, 7, Avenue du Colonel Roche, 31077, Toulouse, France

    Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux & Rachid Alami

  3. Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, 305-8568, Japan

    Kazuhito Yokoi

Authors
  1. Eiichi Yoshida
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  2. Mathieu Poirier
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  3. Jean-Paul Laumond
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  4. Oussama Kanoun
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  5. Florent Lamiraux
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  6. Rachid Alami
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  7. Kazuhito Yokoi
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Corresponding author

Correspondence to Eiichi Yoshida.

Additional information

Preliminary results related to this paper have been presented in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems and 2008 IEEE International Conference on Robotics and Automation.

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Yoshida, E., Poirier, M., Laumond, JP. et al. Pivoting based manipulation by a humanoid robot. Auton Robot 28, 77–88 (2010). https://doi.org/10.1007/s10514-009-9143-x

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  • DOI: https://doi.org/10.1007/s10514-009-9143-x

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