From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks

摘要

Human's action strategy is a good source of robot controller design. For there is no decisive criterion on balance control during manipulation tasks, human motion data are obtained and analyzed in this paper. Based on the observation of the center of mass (CoM) being proportional to target object distance but limited inside the supporting polygon, the bound-proportional CoM planner is proposed. Along with the CoM planner, whole-body balance and grasping controller for a dualarm robot is suggested in a simple and computationally efficient structure. Dynamic simulation is conducted for validation, and showed competent results.