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

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Show simple item record Hernández Vicen, Juan Martínez de la Casa Díaz, Santiago Santos Rico, Raúl de Menéndez, Elisabeth Balaguer Bernaldo de Quirós, Carlos 2022-03-07T11:49:33Z 2022-03-07T11:49:33Z 2021-06-01
dc.identifier.bibliographicCitation 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.
dc.identifier.issn 2079-9292
dc.description.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
dc.format.extent 18
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2021 by the authors.
dc.rights Atribución 3.0 España
dc.subject.other Dual-arm manipulation
dc.subject.other Humanoid manipulation
dc.subject.other Object transportation
dc.subject.other Primitive dynamic trajectories
dc.title Characterization and study of the primitive dynamic movements required to bi-manipulate a box
dc.type article
dc.subject.eciencia Ingeniería Industrial
dc.rights.accessRights openAccess
dc.relation.projectID Universidad Carlos III de Madrid. SHARON-CM-UC3M
dc.relation.projectID Comunidad de Madrid. S2018/NMT-4331
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 1
dc.identifier.publicationissue 11
dc.identifier.publicationlastpage 18
dc.identifier.publicationtitle Electronics (Switzerland)
dc.identifier.publicationvolume 10
dc.identifier.uxxi AR/0000028818
dc.contributor.funder Universidad Carlos III de Madrid
dc.contributor.funder Comunidad de Madrid
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