Whole-body humanoid balance control with dynamically loading/unloading objects

Young Soo Cha; Seok Min Hong; Doik Kim; Bum Jae You; Sang Rok Oh

doi:10.1109/ROBIO.2009.5420412

Whole-body humanoid balance control with dynamically loading/unloading objects

Young Soo Cha, Seok Min Hong, Doik Kim, Bum Jae You, Sang Rok Oh

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

When a humanoid lifts a heavy object, or carries an object in a bag or a carriage, it needs to change the reference CoM(center of mass) and ZMP(Zero Moment Position) in order not to fall down. However, it is not natural to design a reference CoM and ZMP to lift or to carry an object every time. In this paper, objects held by a hand are considered as an augmented virtual link connected at the end of the hand, and it is included in calculating the humanoid CoM. The mass augmentation is done in real time and thus objects can be loaded and unloaded dynamically without any change of reference CoM and ZMP. The balanced pose of the humanoid is obtained by using MECoM(Motion-Embedded CoM) Jacobian resolution method. The proposed method is verified by an experiment.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	1687-1691
Number of pages	5
DOIs	https://doi.org/10.1109/ROBIO.2009.5420412
Publication status	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 2009 Dec 19 → 2009 Dec 23

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	09/12/19 → 09/12/23

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Biomaterials

Access to Document

10.1109/ROBIO.2009.5420412

Cite this

Cha, Y. S., Hong, S. M., Kim, D., You, B. J., & Oh, S. R. (2009). Whole-body humanoid balance control with dynamically loading/unloading objects. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 1687-1691). [5420412] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420412

Whole-body humanoid balance control with dynamically loading/unloading objects. / Cha, Young Soo; Hong, Seok Min; Kim, Doik et al.

2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1687-1691 5420412 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cha, YS, Hong, SM, Kim, D, You, BJ & Oh, SR 2009, Whole-body humanoid balance control with dynamically loading/unloading objects. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420412, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1687-1691, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 09/12/19. https://doi.org/10.1109/ROBIO.2009.5420412

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abstract = "When a humanoid lifts a heavy object, or carries an object in a bag or a carriage, it needs to change the reference CoM(center of mass) and ZMP(Zero Moment Position) in order not to fall down. However, it is not natural to design a reference CoM and ZMP to lift or to carry an object every time. In this paper, objects held by a hand are considered as an augmented virtual link connected at the end of the hand, and it is included in calculating the humanoid CoM. The mass augmentation is done in real time and thus objects can be loaded and unloaded dynamically without any change of reference CoM and ZMP. The balanced pose of the humanoid is obtained by using MECoM(Motion-Embedded CoM) Jacobian resolution method. The proposed method is verified by an experiment.",

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Whole-body humanoid balance control with dynamically loading/unloading objects

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