Massive object transportation by a humanoid robot

Abstract This paper describes a way of massive object transportation by a humanoid robot. It is assumed that an object is too heavy for a humanoid robot to lift up, hence the object is transported by pushing or pulling. Model-based object transportation motion generation is discussed, in which a QP problem is solved on-line to optimize joint torques. In order to estimate contact force between the robot and the environment, virtual mass method is proposed. The proposed motion generation is verified by performing simulations.

[1]  Kazuya Yoshida,et al.  Dual arm coordination in space free-flying robot , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[2]  Shuzhi Sam Ge,et al.  A unified quadratic-programming-based dynamical system approach to joint torque optimization of physically constrained redundant manipulators , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[3]  Masayuki Inaba,et al.  Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[4]  Kenji KANEKO,et al.  Humanoid robot HRP-3 , 2004, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Wael Suleiman,et al.  Autonomous SLAM based humanoid navigation in a cluttered environment while transporting a heavy load , 2018, Robotics Auton. Syst..