2008
DOI: 10.1016/j.robot.2007.11.002
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A dynamic object manipulation approach to dynamic biped locomotion

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Cited by 10 publications
(12 citation statements)
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References 31 publications
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“…Moreover as it was already shown in [24], [36], [37] that walking is in dynamic analogy with manipulation, this work can inspire the researchers to modify passively walking robots to change their directions during walking.…”
Section: Discussionmentioning
confidence: 63%
See 1 more Smart Citation
“…Moreover as it was already shown in [24], [36], [37] that walking is in dynamic analogy with manipulation, this work can inspire the researchers to modify passively walking robots to change their directions during walking.…”
Section: Discussionmentioning
confidence: 63%
“…One can find some examples in [29]- [35]. As it was shown that locomotion is dynamically analogous to manipulation [24], [36], [37], the results of studies on passive locomotion can be utilized in design of passive locomotion mechanisms. The idea of passive manipulation, however, was firstly introduced in [38] where four significant properties of passive manipulation were introduced and three examples were presented.…”
Section: Introductionmentioning
confidence: 99%
“…Figure 2 suggests how the self-manipulation problem we setup below relates to more traditional manipulation and locomotion problems. Joining these perspectives motivates our exploration of the long noted more general du- ality between locomotion and manipulation 1 [14][15][16][17], leading to dual-use actuators that can locomote and manipulate [18][19][20][21][22][23], as well as lending insight into locomotion through manipulation [17] or the reverse [24]. Following that tradition, this section presents a grasptheoretic analysis of a two-stick-legged, standing planar robot with one motor at each hip 2 .…”
Section: Kinematics Of a Self-manipulationmentioning
confidence: 99%
“…where τ m is the mean torque and τ d is the difference in torques, to be defined in (17). A key insight that emerges from the grasp analysis is to break apart the functional…”
Section: A Problem Setupmentioning
confidence: 99%
“…Dynamic object manipulation (it is also called Dynamic Nonprehensile Manipulation (DNM) meaning manipulation without grasping the object), however, simplifies the structure of manipulators while adding complexity to the control strategy, dynamical modeling, and stability analysis of the process. Pushing [1,2], rolling [2], sliding [2], throwing [4,5], catching [4,5], batting [6], and so on, are the concepts based on which dynamic object manipulation is usually performed.…”
Section: Introductionmentioning
confidence: 99%