Title :
Autonomous valve turning with an Atlas humanoid robot
Author :
Newman, Wyatt ; Zheng-Hao Chong ; Cong Du ; Hung, Robert T. W. ; Kit-Hang Lee ; Li Ma ; Ng, Tony W. L. ; Swetenham, Christopher E. ; Tjoeng, Kenneth K. S. ; Weijia Wang
Author_Institution :
Univ. of Hong Kong, Hong Kong, China
Abstract :
Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable to human performance.
Keywords :
humanoid robots; legged locomotion; motion control; path planning; valves; Atlas humanoid robot; autonomous valve turning; biped locomotion; compliant motion control; integrated valve-turning skill; motion planning; palmar manipulation; valve identification; valve manipulation; Joints; Kinematics; Robot sensing systems; Turning; Valves; Wheels;
Conference_Titel :
Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on
Conference_Location :
Madrid
DOI :
10.1109/HUMANOIDS.2014.7041407
