Balance control of humanoid robot in object lifting task with tactile sensing system

Kitti Suwanratchatamanee, Mitsuharu Matsumoto, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    This paper discusses an effective framework of humanoid robot during an object lifting task. The key component is a control technique for balancing in the external forces. Our aim is to simplify the balance control during manipulation tasks by utilizing a real time tactile feedback instead of the complex ZMP calculations. We also present a tactile sensing system and an active tactile sensing technique to enable the humanoid robot to grasp an object and balance autonomously. In order to achieve a balancing task efficiently, the minimal sensing elements are employed with a specialized layout to the soles of each foot to detect the reaction force from the ground. The system effectiveness was confirmed by the experiments on humanoid platform to lift up the objects approximately in half and quarter of their body weight with single left arm. Throughout experiments, information about ground floor or robot orientation is not required in advance.

    Original languageEnglish
    Title of host publication4th International Conference on Human System Interaction, HSI 2011
    Pages431-436
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event4th International Conference on Human System Interaction, HSI 2011 - Yokohama
    Duration: 2011 May 192011 May 21

    Other

    Other4th International Conference on Human System Interaction, HSI 2011
    CityYokohama
    Period11/5/1911/5/21

    Keywords

    • balance control
    • force control
    • humanoid robot
    • object lifting and grasping
    • Tactile sensor

    ASJC Scopus subject areas

    • Human-Computer Interaction

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  • Cite this

    Suwanratchatamanee, K., Matsumoto, M., & Hashimoto, S. (2011). Balance control of humanoid robot in object lifting task with tactile sensing system. In 4th International Conference on Human System Interaction, HSI 2011 (pp. 431-436). [5937405] https://doi.org/10.1109/HSI.2011.5937405