tailieunhanh - Humanoid Robots Human-like Machines Part 13

Tham khảo tài liệu 'humanoid robots human-like machines part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Dexterous Humanoid Whole-Body Manipulation by Pivoting 471 by 50 mm by moving its feet alternatively with the hands fixed on the object using RMC to maintain the whole body balance. As shown in Fig. 12 first robot moves its CoM on the right foot and then moves the left foot forward. The same sequence is repeated for the right foot. The simulation shows that robot can effectively moves towards the desired direction of manipulation. 6. Experimental Results We have conducted an experiment of the manipulation control part in the same condition as in simulation using HRP-2 humanoid hardware platform. Thanks to the architecture of OpenHRP with binary compatibility with the robot hardware the developed simulation software can be directly utilized in hardware without modification. Fig. 13 shows snapshots of the experiments using a box of the same size and weight as in simulation. As can be seen the pivoting manipulation has been executed appropriately and the displacement in x direction was around m as expected from simulation. a Initial state b Step 1 inclining rightward c Step 3 rotating CW d Step 4 inclining leftward e Step 5 rotating CCW f Final state Figure 13. Experiment of pivoting motion. Starting from the initial position a first the object is inclined b to rotate clockwise horizontally c . Then the humanoid robot inclines the object on the other vertex d to rotate counter-clockwise e to finish the manipulation f 472 Humanoid Robots Human-like Machines Figure 14. Experimental result of contact forces of each hand. The grasping start at f 1 sec and finish in 10 seconds. Enough force for the manipulation is maintained but 0 2 4 6 8 10 12 time s Figure 15. Experimental result of static balancing point xs and CoM position x . The static balancing point is maintained near the center of the support polygon x 0 by changing the waist position Dexterous Humanoid Whole-Body Manipulation by Pivoting 473 The experimental result of contact forces .