Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes

García-Haro, Juan Miguel; Martínez, Santiago; Balaguer, Carlos

doi:10.1109/humanoids.2018.8624920

Cited by 11 publications

(8 citation statements)

References 14 publications

(7 reference statements)

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“…Motion planning for nonprehensile object transportation is addressed in [48], where an admissible velocity propagation algorithm is adopted to take into account the dynamic constraints imposed by the task. A waiter humanoid robot is developed in [49], where the zero-moment-point constraint of the object transported on a tray is considered: this allows the possibility for the object to rotate on one edge during the motion, thus exploiting the so-called pivoting nonprehensile manipulation primitive [50]. Non-sliding nonprehensile manipulation, on the contrary, aims at keeping the object fixed on the tray at all times.…”

Section: A Related Workmentioning

confidence: 99%

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

et al. 2022

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This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on a tray. Differently from many existing studies about remotely operated robots with firm grasping capabilities, we consider the case in which, in principle, the object can break its contact with the robot end-effector. The proposed shared-control approach automatically regulates the remote robot motion commanded by the user and the end-effector orientation to prevent the object from sliding over the tray. Furthermore, the human operator is provided with haptic cues informing about the discrepancy between the commanded and executed robot motion, which assist the operator throughout the task execution.We carried out trajectory tracking experiments employing an autonomous 7 degree-of-freedom (DoF) manipulator and compared the results obtained using the proposed approach with two different control schemes (i.e., constant tray orientation and no motion adjustment). We also carried out a human-subjects study involving eighteen participants, in which a 3-DoF haptic device was used to teleoperate the robot linear motion and display haptic cues to the operator. In all experiments, the results clearly show that our control approach outperforms the other solutions in terms of sliding prevention, robustness, commands tracking, and user's preference.

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Section: A Related Workmentioning

confidence: 99%

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

et al. 2022

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“…α es elángulo relativo entre la botella y la bandeja. Garcia-Haro et al [6], muestra los resultados obtenido de manera satisfactoria del comportamiendo del ZMP de la botellas aplicado 3D Dynamic Slope.…”

Section: Equilibrio Del Cuerpounclassified

Evaluación multi-ZMP para tareas de transporte de objetos en robots humanoides

Haro¹,

Martínez²,

Vicén³

et al. 2020

XL Jornadas De Automática: Libro De Actas (Ferrol, 4-6 De Septiembre De 2019)

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“…After determining the wrench distribution F opt bal for the balancing end-effectors, (11) can be used for computing the torque mapping: (13) Note that the wrench distribution for the hands is given by…”

Section: Rmmentioning

confidence: 99%

“…Some of these works are related to the design and application [9], [10]. Moreover, there are other works focused on the problem of implementing a dual-arm manipulation controller or even object balance manipulation [11], [12], [13], [14], [15]. Note that the field of dual-arm manipulation as well as balance control of legged robots suffers from the same challenge as pointed out in [16].…”

Section: Introductionmentioning

confidence: 99%

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

García-Haro

Henze

Mesesan

et al. 2019

2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)

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This work presents an extension of balance control for torque-controlled humanoid robots. Within a non-strict task hierarchy, the controller allows the robot to use the feet endeffectors to balance, while the remaining hand end-effectors can be used to perform Dual-Arm manipulation. The controller generates a passive and compliance behaviour to regulate the location of the centre of mass (CoM), the orientation of the hip and the poses of each end-effector assigned to the task of interaction (in this case bi-manipulation). Then, an appropriate wrench (force and torque) is applied to each of the end-effectors employed for the task to achieve this purpose. Now, in this new controller, the essential requirement focuses on the fact that the desired wrench in the CoM is computed through the sum of the balancing and bi-manipulation wrenches. The bimanipulation wrenches are obtained through a new dynamic model that allows executing tasks of approaching the grip and manipulation of large objects compliantly. On the other hand, the feedback controller has been maintained but in combination with a bi-manipulation-oriented feedforward control to improve the performance in the object trajectory tracking. This controller is tested in different experiments with the robot TORO.

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Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes

Cited by 11 publications

References 14 publications

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

Evaluación multi-ZMP para tareas de transporte de objetos en robots humanoides

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

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