{"title":"Analysis of Sole Configuration of Humanoid Robots for Applying Force Tasks","authors":"H. Yoshida, Masaya Yoshimura","doi":"10.5989/JSGS.38.SUPPLEMENT2_19","DOIUrl":null,"url":null,"abstract":"The aim of this study is to develop a control method of mobile manipulation for humanoid robots, mobile manipulation means the integrated motion centered on arm's manipulation. The main objective of mobile manipulation is to obtain versatile and stable manipulation by arm. In this respect the legs are required to assist arm's manipulation. From viewpoint of the concept, we analyzed sole configuration and arrangement of humanoid robots based on the stability indeces. Relationship between sole configuration and stability indeces is clarified through the computer simulations.","PeriodicalId":101829,"journal":{"name":"Journal of graphic science of Japan","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of graphic science of Japan","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5989/JSGS.38.SUPPLEMENT2_19","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The aim of this study is to develop a control method of mobile manipulation for humanoid robots, mobile manipulation means the integrated motion centered on arm's manipulation. The main objective of mobile manipulation is to obtain versatile and stable manipulation by arm. In this respect the legs are required to assist arm's manipulation. From viewpoint of the concept, we analyzed sole configuration and arrangement of humanoid robots based on the stability indeces. Relationship between sole configuration and stability indeces is clarified through the computer simulations.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
