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ICRA
2005
IEEE

A Humanoid Robot Carrying a Heavy Object

10 years 3 months ago
A Humanoid Robot Carrying a Heavy Object
— This paper studies the balance of a humanoid robot carrying a heavy object. Without knowing the mass and the position of the center of gravity of the object, the humanoid robot carries a heavy object stably by using the force sensor information attached at the wrists and the ankles. We first show how to generate the motion of a humamoid robot by taking the force sensor information into consideration. We also show the method for generating the gait pattern by taking the dynamics of the carried object. The effectiveness of the proposed method is shown by experiments.
Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsu
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Hirohisa Hirukawa
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