Title:
Humanoid Teleoperation for Whole Body Manipulation
Humanoid Teleoperation for Whole Body Manipulation
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.author | Nishiwaki, Koichi | |
| dc.contributor.author | Kagami, Satoshi | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | National Institute of Advanced Industrial Science and Technology (Japan). Digital Human Research Center | en_US |
| dc.date.accessioned | 2010-12-16T17:41:31Z | |
| dc.date.available | 2010-12-16T17:41:31Z | |
| dc.date.issued | 2008-05 | |
| dc.description | © 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description.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. | en_US |
| dc.identifier.citation | M. Stilman, K. Nishiwaki, S. Kagami. Humanoid Teleoperation for Whole Body Manipulation. IEEE Int. Conf on Robotics and Automation (ICRA ’08), May 2008. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/36453 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
| dc.subject | Humanoid robot | en_US |
| dc.subject | Manipulation | en_US |
| dc.subject | Autonomous behavior | en_US |
| dc.title | Humanoid Teleoperation for Whole Body Manipulation | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |