Dynamics and balance of a humanoid robot during manipulation tasks

• Published in: IEEE transactions on robotics Vol. 22; no. 3; pp. 568 - 575
• Main Authors: Harada, K., Kajita, S., Kaneko, K., Hirukawa, H.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.06.2006; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Angular velocity; Applied sciences; Computer science; control theory; systems; Control theory. Systems; Displacement; Dynamical balance; Exact sciences and technology; Foot; Gravity; Hulls; Hulls (structures); Humanoid; humanoid robot; Humanoid robots; Intelligent robots; Manipulator dynamics; Mechanical engineering; object manipulation; Polyhedra; Pushing; Research and development; Robot kinematics; Robotics; Robots; Simulation; Tasks; Tensile stress; Torque; zero-moment point (ZMP); Polyhedron; Convex hull; Zero point; Robotics; Humanoid robot
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2006.870649

In this paper, we analyze the balance of a humanoid robot during manipulation tasks. By defining the generalized zero-moment point (GZMP), we obtain the region of it for keeping the balance of the robot during manipulation. During manipulation, the convex hull of the supporting points forms the 3-D convex polyhedron. The region of the GZMP is obtained by considering the infinitesimal displacement and the moment about the edges of the convex hull. We show that we can determine whether or not the robot may keep balance for several styles of manipulation tasks, such as pushing and pulling an object. The effectiveness of our proposed method is demonstrated by simulation.