Title:
Humanoid Teleoperation for Whole Body Manipulation
Humanoid Teleoperation for Whole Body Manipulation
Author(s)
Stilman, Mike
Nishiwaki, Koichi
Kagami, Satoshi
Nishiwaki, Koichi
Kagami, Satoshi
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Abstract
We present results of successful telemanipulation
of large, heavy objects by a humanoid robot. Using a single
joystick the operator controls walking and whole body
manipulation along arbitrary paths for up to ten minutes of
continuous execution. The robot grasps, walks, pushes, pulls,
turns and re-grasps a 55kg range of loads on casters. Our
telemanipulation framework changes reference frames online
to let the operator steer the robot in free walking, its hands
in grasping and the object during mobile manipulation. In the
case of manipulation, our system computes a robot motion that
satisfies the commanded object path as well as the kinematic
and dynamic constraints of the robot. Furthermore, we achieve
increased robot stability by learning dynamic friction models
of manipulated objects.
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Date Issued
2008-05
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Text
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Proceedings