Towards tasking humanoids for lift-and-carry non-rigid material
Document Type
Conference Proceeding
Publication Date
1-1-2017
Publication Title
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Publisher
Institute of Electrical and Electronics Engineers Inc.
First page number:
316
Last page number:
321
Abstract
The lift-and-carry of non-rigid objects is challenging for both people and bipedal robots. Examples include lifting and carrying jugs, jerry cans or bags that are respectively filled with water, gasoline or sand. Carrying such objects often makes it difficult to walk due to the shifting center-of-mass. As such, tripping and falling are risks. Such lift-and-carry is a common material handling task. For bipedal robots to be deployed in unstructured or cluttered environments like factory floors, agricultural fields or disaster sites, robust methods for lift-and-carry are needed. This paper motivates, highlights, and provides experimental results to underscore the value and challenges of the bipedal lift-and-carry of non-rigid objects. © 2017 IEEE.
Language
english
Repository Citation
Vaz, J. C.,
Lee, H.,
Jun, Y.,
Oh, P.
(2017).
Towards tasking humanoids for lift-and-carry non-rigid material.
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
316-321.
Institute of Electrical and Electronics Engineers Inc..
http://dx.doi.org/10.1109/URAI.2017.7992740