The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
Session ID : 2P1-B02
Conference information
2P1-B02 Pushing and Pivoting Manipulation for Carrying Large Furniture based on Object Tilt / Slide Detection with a Life-Sized Humanoid Robot(Humanoid)
Masaki MUROOKAShunichi NozawaShintaro NodaKei OKADAMasayuki INABA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
There are various manipulation methods of carrying large and heavy objects, and humans use these methods properly for each object. A robot needs to decide which manipulation method to use autonomously in order to perform without human help. In our method, a robot detects the motion state of the object by manipulating them with applying impedance control to hands. By manipulating the object, a robot gets kinematics and force information through hands touching the object. A robot can select a proper carrying method from pushing, pivoting, and dual-arm holding based on tilt / slide detection of objects motion and operational force limit detection. The effectiveness of our method is confirmed in an experiment in which a humanoid robot carries large furniture autonomously.
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© 2013 The Japan Society of Mechanical Engineers
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