Publication: Characterization and study of the primitive dynamic movements required to bi-manipulate a box
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Publication date
2021-06-01
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Tutors
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Publisher
MDPI
Abstract
Automating the action of finding the opening side of a box is not possible if the robot is not
capable of reaching and evaluating all of its sides. To achieve this goal, in this paper, three different
movement strategies to bi-manipulate a box are studied: overturning, lifting, and spinning it over a
surface. First of all, the dynamics involved in each of the three movement strategies are studied using
physics equations. Then, a set of experiments are conducted to determine if the real response of the
humanoid robot, TEO, to a box is consistent with the expected answer based on theoretical calculus.
After the dynamics validation, the information on the forces and the position in the end effectors
is used to characterize these movements and create its primitives. These primitive movements will
be used in the future to design a hybrid position–force control in order to adapt the movements to
different kinds of boxes. The structure of this control is also presented in this paper
Description
Keywords
Dual-arm manipulation, Humanoid manipulation, Object transportation, Primitive dynamic trajectories
Bibliographic citation
Hernandez-Vicen, J., Martinez, S., de Santos-Rico, R., Menendez, E., & Balaguer, C. (2021). Characterization and Study of the Primitive Dynamic Movements Required to Bi-Manipulate a Box. Electronics, 10(11), 1354.