Whole-body motion of a humanoid robot for passing through a door: opening a door by impulsive force

  • Authors:

  • Hitoshi Arisumi;Jean-Rémy Chardonnet;Kazuhito Yokoi

  • Affiliations:

  • Intelligent Systems Research Institute of the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute of the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan;Intelligent Systems Research Institute of the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.