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ICRA
2008
IEEE

Humanoid teleoperation for whole body manipulation

8 years 10 months ago
Humanoid teleoperation for whole body manipulation
— We present results of successful telemanipulation of large, heavy objects by a humanoid robot. Using a single joystick the operator controls walking and whole body manipulation along arbitrary paths for up to ten minutes of continuous execution. The robot grasps, walks, pushes, pulls, turns and re-grasps a 55kg range of loads on casters. Our telemanipulation framework changes reference frames online to let the operator steer the robot in free walking, its hands in grasping and the object during mobile manipulation. In the case of manipulation, our system computes a robot motion that satisfies the commanded object path as well as the kinematic and dynamic constraints of the robot. Furthermore, we achieve increased robot stability by learning dynamic friction models of manipulated objects.
Mike Stilman, Koichi Nishiwaki, Satoshi Kagami
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Mike Stilman, Koichi Nishiwaki, Satoshi Kagami
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