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Characterization and study of the primitive dynamic movements required to bi-manipulate a box

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dc.affiliation.dptoUC3M. Departamento de Estadísticaes
dc.contributor.authorHernández Vicen, Juan
dc.contributor.authorMartínez de la Casa Díaz, Santiago
dc.contributor.authorSantos Rico, Raúl de
dc.contributor.authorMenéndez, Elisabeth
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderUniversidad Carlos III de Madrides
dc.contributor.funderComunidad de Madrid
dc.date.accessioned2022-03-07T11:49:33Z
dc.date.available2022-03-07T11:49:33Z
dc.date.issued2021-06-01
dc.description.abstractAutomating 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 paperen
dc.format.extent18es
dc.identifier.bibliographicCitationHernandez-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.en
dc.identifier.doihttps://doi.org/10.3390/electronics10111354
dc.identifier.issn2079-9292
dc.identifier.publicationfirstpage1
dc.identifier.publicationissue11
dc.identifier.publicationlastpage18
dc.identifier.publicationtitleElectronics (Switzerland)en
dc.identifier.publicationvolume10
dc.identifier.urihttps://hdl.handle.net/10016/34302
dc.identifier.uxxiAR/0000028818
dc.language.isoeng
dc.publisherMDPIen
dc.relation.projectIDUniversidad Carlos III de Madrid. SHARON-CM-UC3Mes
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© 2021 by the authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaIngeniería Industriales
dc.subject.otherDual-arm manipulationen
dc.subject.otherHumanoid manipulationen
dc.subject.otherObject transportationen
dc.subject.otherPrimitive dynamic trajectoriesen
dc.titleCharacterization and study of the primitive dynamic movements required to bi-manipulate a boxen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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