Publication:
Balance computation of objects transported on a tray by ahumanoid robot based on 3D dynamic slopes

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGarcía Haro, Juan Miguel
dc.contributor.authorMartínez de la Casa Díaz, Santiago
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2020-05-13T12:01:35Z
dc.date.available2020-05-13T12:01:35Z
dc.date.issued2019-01-01
dc.descriptionThis paper has been presented at the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids).en
dc.description.abstractHumanoid robots are designed to perform tasks in the same way than humans do. One of these tasks is to act as a waiter serving drinks, food, etc. Transporting all these items can be considered a manipulation task. In this application, the objects are transported over a tray, without grasping them. The consequence is that the objects are not firmly attached to the robot, which is the case in grasping. Then, the complexity of robotics grasping is avoided but stability issues arise. The problem of keeping balance of the object transported by a robot over a tray is discussed in this paper. The approach presented is based on the computation of the Zero Moment Point (ZMP) of the object, which is modelled as a three dimensional Linear Inverted Pendulum Model (3D-LIPM). The use of force-torque sensors located at the wrist enables ZMP computation, but the main problem to be solved is how the robot should react when the object losses balance. One strategy is to rotate the tray to counteract the rotation of the object. This rotation has to be proportional to the ZMP variation and the object's rotation angle. This issue is solved by applying the concept of three dimensional dynamic slopes. It helps to avoid kinematic problems and make balance computation independent from the angle of the tray.en
dc.description.sponsorshipThe research leading to these results has received funding from the ROBOHEALTH-A project (DPI2013-47944-C4-1-R) funded by Spanish Ministry of Economy and Competitiveness, from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU and from the HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness.en
dc.format.extent6
dc.identifier.bibliographicCitationGarcía Haro, J. M., Martínez, S. y Balaguer, C. (2018). Balance Computation of Objects Transported on a Tray by a Humanoid Robot Based on 3D Dynamic Slopes. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018), pp. 704–709.en
dc.identifier.doihttps://doi.org/10.1109/HUMANOIDS.2018.8624920
dc.identifier.isbn978-1-5386-7283-9
dc.identifier.publicationfirstpage704
dc.identifier.publicationlastpage709
dc.identifier.publicationtitleProceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018)en
dc.identifier.urihttps://hdl.handle.net/10016/30389
dc.identifier.uxxiCC/0000029398
dc.language.isoengen
dc.publisherIEEEen
dc.relation.eventdate06 - 09 November 2018en
dc.relation.eventplaceBeijing, Chinaen
dc.relation.eventtitle18th IEEE-RAS International Conference on Humanoid Robots (Humanoids)en
dc.relation.projectIDGobierno de España. DPI2013-47944-C4-1-Res
dc.relation.projectIDGobierno de España. DPI2016-75330-Pes
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559es
dc.rights© 2018 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
dc.rights.accessRightsopen access
dc.titleBalance computation of objects transported on a tray by ahumanoid robot based on 3D dynamic slopesen
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
balance_IEEERAS_2018_ps.pdf
Size:
2.88 MB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LR - Comunicaciones en Congresos y otros eventos
DISA - LR - Capítulos de Monografías