Pivoting based manipulation by a humanoid robot

Authors:
Eiichi Yoshida;Mathieu Poirier;Jean-Paul Laumond;Oussama Kanoun;Florent Lamiraux;Rachid Alami;Kazuhito Yokoi
Affiliations:
CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan 305-8568;LAAS-CNRS, University of Toulouse/ UPS, INSA, INP, ISAE/ LAAS, Toulouse, France 31077;LAAS-CNRS, University of Toulouse/ UPS, INSA, INP, ISAE/ LAAS, Toulouse, France 31077;LAAS-CNRS, University of Toulouse/ UPS, INSA, INP, ISAE/ LAAS, Toulouse, France 31077;LAAS-CNRS, University of Toulouse/ UPS, INSA, INP, ISAE/ LAAS, Toulouse, France 31077;LAAS-CNRS, University of Toulouse/ UPS, INSA, INP, ISAE/ LAAS, Toulouse, France 31077;Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan 305-8568
Venue:
Autonomous Robots
Year:
2010

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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.