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29 octobre 2007
- handle: 10670/1.kjr73s
- hal: hal-01972683
- doi: 10.1109/IROS.2007.4399212
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info:eu-repo/semantics/altIdentifier/doi/10.1109/IROS.2007.4399212
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Eiichi Yoshida et al., « Pivoting based manipulation by humanoids: a controllability analysis », HAL-SHS : sciences de l'information, de la communication et des bibliothèques, ID : 10.1109/IROS.2007.4399212
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Pivoting manipulation has such advantages as dexterity and safety over other methods to move bulky or heavy objects. In this paper we aim to show that a polyhedral object can be displaced to arbitrary position and orientation on a plane (i.e. such a pivoting system is controllable). More than that we show it is small time controllable, i.e. the reachable space from a starting point contains always a neighbor no matter how cluttered the environment is. As a consequence of this analysis, we propose a steering method to plan a manipulation path to be performed by a humanoid robot: first we use a classical nonholonomic path planner that accounts for the robot motion constraints, and then we transform that path into a sequence of pivoting operations. While the feasibility of elementary pivoting tasks has been already experienced by the humanoid robot HRP-2, we present here the very first simulations of the plans generated by our steering method.