TY - GEN
T1 - Effects of Object Mass on Balancing for Whole-Body Lifting Tasks
AU - Song, Hyunjong
AU - Peng, William Z.
AU - Kim, Joo H.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing criteria and control methods for stability are mostly developed for unloaded legged gait. In this paper, the stability during lifting tasks is comprehensively analyzed to determine the role of the lifted object mass in balancing. The stability of a simple two-degree-of-freedom lifting model and a whole-body humanoid robot are evaluated by constructing their balanced state boundaries, which represent their specific capabilities in maintaining balance, through an optimization-based framework for varying combinations of object mass, joint torque limits, and base of support dimensions. Comparative analysis of the rate of change of the linear and centroidal angular momenta quantifies the nonlinear and nontrivial tradeoffs, i.e., contribution or obstruction, of the effects of the object mass on balancing. Overall, increasing the object mass enhances balance capability subject to the limiting factors of system kinematic and actuation limits, center of pressure within the base of support, friction cone, and unilateral normal contact forces between the feet and the ground.
AB - Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing criteria and control methods for stability are mostly developed for unloaded legged gait. In this paper, the stability during lifting tasks is comprehensively analyzed to determine the role of the lifted object mass in balancing. The stability of a simple two-degree-of-freedom lifting model and a whole-body humanoid robot are evaluated by constructing their balanced state boundaries, which represent their specific capabilities in maintaining balance, through an optimization-based framework for varying combinations of object mass, joint torque limits, and base of support dimensions. Comparative analysis of the rate of change of the linear and centroidal angular momenta quantifies the nonlinear and nontrivial tradeoffs, i.e., contribution or obstruction, of the effects of the object mass on balancing. Overall, increasing the object mass enhances balance capability subject to the limiting factors of system kinematic and actuation limits, center of pressure within the base of support, friction cone, and unilateral normal contact forces between the feet and the ground.
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U2 - 10.1109/Humanoids57100.2023.10375174
DO - 10.1109/Humanoids57100.2023.10375174
M3 - Conference contribution
AN - SCOPUS:85182940822
T3 - IEEE-RAS International Conference on Humanoid Robots
BT - 2023 IEEE-RAS 22nd International Conference on Humanoid Robots, Humanoids 2023
PB - IEEE Computer Society
T2 - 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
Y2 - 12 December 2023 through 14 December 2023
ER -