Whole-Body Humanoid Balance Control with Dynamically Loading/Unloading Objects

摘要：

When a humanoid lifts a heavy object, or carries an object in a bag or a carriage, it needs to change the reference CoM(center of mass) and ZMP(Zero Moment Position) in order not to fall down. However, it is not natural to design a reference CoM and ZMP to lift or to carry an object every time. In this paper, objects held by a hand are considered as an augmented virtual link connected at the end of the hand, and it is included in calculating the humanoid CoM. The mass augmentation is done in real time and thus objects can be loaded and unloaded dynamically without any change of reference CoM and ZMP. The balanced pose of the humanoid is obtained by using MECoM(Motion-Embedded CoM) Jacobian resolution method. The proposed method is verified by an experiment.

作者: Young-Soo Cha Seok-Min Hong Doik Kim Bum-Jae You Sang-Rok Oh

作者单位: Center for Cognitive Robotics,KIST,39-1 Hawolgok-Dong,WolsongGil 5,Seongbuk-Gu,Seoul,Korea

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1687-1691

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）