与材料移动推车和手推车的类人交互

2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2021-10-25 DOI:10.1109/SSRR53300.2021.9597679

Jean Chagas Vaz, Norberto Torres-Reyes, P. Oh

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引用次数: 0

摘要

将一种全身运动学方法应用于在灾难响应场景中操纵物料搬运设备的仿人机器人。使用动态不同的推车来研究其对步态稳定性的影响。购物车和独轮手推车都被使用，重点是后者。此外，外部因素，如地形和不同的负载也有所不同，以评估这些可能对推车的影响。使用全尺寸人形机器人作为评估步态性能的平台。此外，通过计算ZMP误差来评估不同场景下的步态质量。实验结果表明，在各种测试范围内，成功率为95%。

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Humanoid Interaction with Material-Moving Carts and Wheelbarrows

A whole-body kinematics approach is applied to a humanoid for maneuvering material-handling equipment normally used during disaster response scenarios. Dynamically different carts are used to explore the effects on gait stability. A shopping cart and a wheelbarrow are both utilized with emphasis being on the latter. In addition, external factors such as terrain and distinct loads are also varied in order to assess the impacts these may have on cart pushing. A full sized humanoid is used as a platform to evaluate gait performance. Furthermore, gait quality was assessed throughout different scenarios by calculating the ZMP error. Experimental results showed a 95% success rate throughout a varied range of tests.

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2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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