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Whole-Body Motion of a Humanoid Robot for Passing Through a Door - Opening a Door by Impulsive Force -

Abstract : There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00533348
Contributor : Jean-Rémy Chardonnet <>
Submitted on : Tuesday, November 16, 2010 - 8:30:55 PM
Last modification on : Thursday, March 18, 2021 - 7:26:04 PM
Long-term archiving on: : Thursday, February 17, 2011 - 3:11:11 AM

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Hitoshi Arisumi, Jean-Rémy Chardonnet, Kazuhito Yokoi. Whole-Body Motion of a Humanoid Robot for Passing Through a Door - Opening a Door by Impulsive Force -. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.428-434, ⟨10.1109/IROS.2009.5354087⟩. ⟨lirmm-00533348v2⟩

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