Humanoid Interaction with Material-Moving Carts and Wheelbarrows
Document Type
Conference Proceeding
Publication Date
10-1-2021
Publication Title
2021 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2021
Publisher
IEEE Xplore
Publisher Location
Manhattan, New York
First page number:
21
Last page number:
26
Abstract
A whole-body kinematics approach is applied to a humanoid for maneuvering material-handling equipment normally used during disaster response scenarios. Dynamically different carts are used to explore the effects on gait stability. A shopping cart and a wheelbarrow are both utilized with emphasis being on the latter. In addition, external factors such as terrain and distinct loads are also varied in order to assess the impacts these may have on cart pushing. A full sized humanoid is used as a platform to evaluate gait performance. Furthermore, gait quality was assessed throughout different scenarios by calculating the ZMP error. Experimental results showed a 95% success rate throughout a varied range of tests.
Controlled Subject
Androids; Carriages and carts--Wheels
Disciplines
Motor Control | Psychology of Movement
Repository Citation
Vaz, J. C.,
Torres-Reyes, N.,
Oh, P. Y.
(2021).
Humanoid Interaction with Material-Moving Carts and Wheelbarrows.
2021 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2021
21-26.
Manhattan, New York: IEEE Xplore.
http://dx.doi.org/10.1109/SSRR53300.2021.9597679