{"title":"类人机器人的工作姿势能产生较大的操纵力","authors":"A. Konno, Yoonkwon Hwang, S. Tamada, M. Uchiyama","doi":"10.1109/IROS.2005.1545237","DOIUrl":null,"url":null,"abstract":"When a human needs to apply a large force to an environment, the human takes an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the sequential quadratic programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contributes to make the manipulation force larger.","PeriodicalId":189219,"journal":{"name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":"{\"title\":\"Working postures for humanoid robots to generate large manipulation force\",\"authors\":\"A. Konno, Yoonkwon Hwang, S. Tamada, M. Uchiyama\",\"doi\":\"10.1109/IROS.2005.1545237\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"When a human needs to apply a large force to an environment, the human takes an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the sequential quadratic programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contributes to make the manipulation force larger.\",\"PeriodicalId\":189219,\"journal\":{\"name\":\"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"52 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-12-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"16\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2005.1545237\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2005.1545237","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Working postures for humanoid robots to generate large manipulation force
When a human needs to apply a large force to an environment, the human takes an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the sequential quadratic programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contributes to make the manipulation force larger.
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