Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface | IEEE Journals & Magazine | IEEE Xplore

Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface


Abstract:

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propo...Show More

Abstract:

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-body contact.
Published in: IEEE Robotics and Automation Letters ( Volume: 5, Issue: 2, April 2020)
Page(s): 2905 - 2912
Date of Publication: 18 February 2020

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