Whole body cooperative tasks and static stability evaluations for a humanoid robot

2004 ◽  
Author(s):  
Yoonkwon Hwang ◽  
A. Konno ◽  
M. Uchiyama
Keyword(s):  
Humanoid Robot ◽  
Static Stability ◽  
Whole Body ◽  
Cooperative Tasks

scholarly journals Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Jacopo Zenzeri ◽  
Dalia De Santis ◽  
Vishwanathan Mohan ◽  
Maura Casadio ◽  
Pietro Morasso
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Static Stability ◽  
Reaching Movements ◽  
Whole Body ◽  
Passive Motion ◽  
Functional Reach ◽  
Functional Reach Test ◽  
Passive Motion Paradigm

The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.

Walking biped humanoids that perform manual labour

2006 ◽  
Vol 365 (1850) ◽  
pp. 65-77 ◽  
Author(s):  
Hirohisa Hirukawa
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Humanoid Robotics ◽  
Industrial Plants ◽  
Cooperative Tasks ◽  
Manual Labour

The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.

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