DocumentCode
250591
Title
Symmetry cooperative object transportation by multiple humanoid robots
Author
Meng-Hung Wu ; Konno, Akitoyo ; Ogawa, Shinichi ; Komizunai, Shunsuke
Author_Institution
Div. of Syst. Sci. & Inf., Hokkaido Univ., Sapporo, Japan
fYear
2014
fDate
May 31 2014-June 7 2014
Firstpage
3446
Lastpage
3451
Abstract
This research aims to create a framework of transporting an object by multiple humanoid robots. In this work, a symmetric hybrid position/force control is adapted to two humanoid robots. The reference object position and attitude are given by an operator online, and the two humanoid robots generate its whole body motion to follow the reference object position properly. The result of proposed method is verified with a dynamics simulation.
Keywords
attitude control; control engineering computing; cooperative systems; digital simulation; force control; humanoid robots; mobile robots; motion control; multi-robot systems; position control; symmetry; attitude control; dynamics simulation; force control; multiple humanoid robots; position control; symmetry cooperative object transportation; whole body motion; Foot; Force; Force control; Humanoid robots; Legged locomotion; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location
Hong Kong
Type
conf
DOI
10.1109/ICRA.2014.6907355
Filename
6907355
Link To Document