Characterization and Study of the Primitive Dynamic Movements Required to Bi-Manipulate a Box

Electronics

Carlos Balaguer¹  Santiago Martinez¹  Juan Hernandez-Vicen¹  Elisabeth Menendez¹  Raul de Santos-Rico¹ 

[1] System Engineering and Automation Department, University Carlos III, Av de la Universidad, 30, 28911 Madrid, Spain;

关键词: dual-arm manipulation;    object transportation;    humanoid manipulation;    primitive dynamic trajectories;   

DOI  :  10.3390/electronics10111354

来源: DOAJ

【 摘 要 】

Automating the action of finding the opening side of a box is not possible if the robot is not capable of reaching and evaluating all of its sides. To achieve this goal, in this paper, three different movement strategies to bi-manipulate a box are studied: overturning, lifting, and spinning it over a surface. First of all, the dynamics involved in each of the three movement strategies are studied using physics equations. Then, a set of experiments are conducted to determine if the real response of the humanoid robot, TEO, to a box is consistent with the expected answer based on theoretical calculus. After the dynamics validation, the information on the forces and the position in the end effectors is used to characterize these movements and create its primitives. These primitive movements will be used in the future to design a hybrid position–force control in order to adapt the movements to different kinds of boxes. The structure of this control is also presented in this paper.

【 授权许可】

Unknown