Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks

“…When it is foreseen that high forces could arise in the interaction of the robot with the environment, the robot can plan in advance the best posture and force distribution required to deal with the task [14]. The planning has to consider several factors such as kinematic limitations, actuator constraints, or characteristics of the supporting contacts.…”

Human-Humanoid Collaborative Carrying

“…The main limiting factor in (18) is the allowable instantaneous force change given the ZMP constraints. With some assumptions, this can be derived from the ZMP equation 3as shown in [45]. Then, if the change in applied force is below such allowable limit, the robot can adjust its posture to handle the sustained force as shown in the simulations of [33] where up to 150N are applied to the robot.…”

Walking pattern generators designed for physical collaboration

“…For clarity, the original variables are used below, although (14), (16), (17), (18), (19) express them as a function of the argument, making the construction of the standard QP straightforward. The standard WPG can then be described as:…”

“…Differently, [13] models the disturbance as a torque on the ZMP. Another closely related work is [14], which builds on [10] in pushing heavy objects. In particular, the range of allowable external forces is obtained from the model considering a pre-defined ZMP, as in [2].…”