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Dealing with biped locomotion as a dynamic object manipulation problem: Manipulating of body using legs

Beigzadeh, B ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2007-41482
  3. Publisher: 2008
  4. Abstract:
  5. In this paper, we try to show that it is possible to deal with biped locomotion as a dynamic object manipulation problem. We show that during locomotion, a biped locomotion can be seen as manipulating of upper part of biped robot using a leg, which now plays the role of a manipulator. So the whole locomotion process can be seen as a dynamic manipulation of an object (upper part of a biped robot) using a numerous series of manipulators each of which placed in a proper place where the object tends to land, so it catches the object and throws it to the next point which another manipulator waits for catching it. The authors in the previous works have explored the problem of dynamic manipulation of parts. The results have been validated with the aid of simulation. Copyright © 2007 by ASME
  6. Keywords:
  7. Dynamic object manipulation problem ; Locomotion process ; Biped Robot ; Dynamic object manipulation ; Locomotion process ; Object recognition ; Problem solving ; Robots ; Biped locomotion ; Dynamics ; Biped locomotion ; Manipulators
  8. Source: ASME International Mechanical Engineering Congress and Exposition, IMECE 2007, Seattle, WA, 11 November 2007 through 15 November 2007 ; Volume 9 PART B , 2008 , Pages 1209-1216 ; 0791843033 (ISBN); 9780791843031 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2007/43033/1209/328961