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Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control

Meenakshi Sundaram, Ashok and Henze, Bernd and Porges, Oliver and Marton, Zoltan-Csaba and Roa Garzon, Máximo Alejandro (2018) Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control. In: IEEE-RAS International Conference on Humanoid Robots. IEEE. 2018 IEEE-RAS International Conference on Humanoid Robots, 2018-11-06 - 2018-11-09, Beijing, China. doi: 10.1109/HUMANOIDS.2018.8624998. ISSN 2164-0572.

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Autonomous behaviors in humanoid robots are generally implemented by considering the robot as two separate parts, using the lower body for locomotion and balancing, and the upper body for manipulation actions. This paper provides a unified framework for autonomous grasping with bipedal robots using a compliant whole-body controller. The grasping action is based on parametric grasp planning for unknown objects using shape primitives, which allows a generation of multiple grasp poses on the object. A reachability analysis is used to select the final grasp, and also for triggering a base repositioning behavior that locates the robot on a better position for grasping the desired object more confidently, considering all grasps and the uncertainty in reaching the desired position. The whole-body controller accounts for perturbations at any level and ensures a successful execution of the intended task. The approach is implemented in the humanoid robot TORO, and different experiments demonstrate its robustness and flexibility.

Item URL in elib:https://elib.dlr.de/124149/
Document Type:Conference or Workshop Item (Lecture)
Title:Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meenakshi Sundaram, AshokUNSPECIFIEDhttps://orcid.org/0000-0001-9201-6947UNSPECIFIED
Marton, Zoltan-CsabaUNSPECIFIEDhttps://orcid.org/0000-0002-3035-493XUNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:November 2018
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Humanoid Grasping, Base Repositioning, Whole-Body Control
Event Title:2018 IEEE-RAS International Conference on Humanoid Robots
Event Location:Beijing, China
Event Type:international Conference
Event Start Date:6 November 2018
Event End Date:9 November 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Meenakshi Sundaram, Ashok
Deposited On:03 Dec 2018 18:41
Last Modified:24 Apr 2024 20:28

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