Learning Object Models for Humanoid Manipulation

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dc.contributor.author Stilman, Mike
dc.contributor.author Nishiwaki, Koichi
dc.contributor.author Kagami, Satoshi
dc.date.accessioned 2010-12-16T18:03:29Z
dc.date.available 2010-12-16T18:03:29Z
dc.date.issued 2007-11
dc.identifier.citation M. Stilman, K. Nishiwaki, S. Kagami. Learning Object Models for Humanoid Manipulation. IEEE Int. Conf on Humanoid Robotics (Humanoids ’07), November 2007. en_US
dc.identifier.uri http://hdl.handle.net/1853/36456
dc.description © 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. en_US
dc.description.abstract We present a successful implementation of rigid grasp manipulation for large objects moved along specified trajectories by a humanoid robot. HRP-2 manipulates tables on casters with a range of loads up to its own mass. The robot maintains dynamic balance by controlling its center of gravity to compensate for reflected forces. To achieve high performance for large objects with unspecified dynamics the robot learns a friction model for each object and applies it to torso trajectory generation. We empirically compare this method to a purely reactive strategy and show a significant increase in predictive power and stability. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Humanoid robot en_US
dc.subject Manipulation en_US
dc.subject Humanoid locomotion en_US
dc.title Learning Object Models for Humanoid Manipulation en_US
dc.type Proceedings en_US
dc.contributor.corporatename Carnegie-Mellon University. Robotics Institute
dc.contributor.corporatename National Institute of Advanced Industrial Science and Technology (Japan). Digital Human Research Center
dc.publisher.original Institute of Electrical and Electronics Engineers

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