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- W1973607110 abstract "Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a method to expand these force limits by changing a humanoid robot's posture. Based on Double Inverted Pendulum (DIP) model, the force limitation that the humanoid robot can support is calculated. With a feet-apart strategy and whole-body posture, a method is proposed to maximize the force limitation under the condition that the height of the target object is constant. Finally, comparison of simulation and experimental data validates the approach." @default.
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- W1973607110 date "2012-11-01" @default.
- W1973607110 modified "2023-09-26" @default.
- W1973607110 title "Controlling and maximizing humanoid robot pushing force through posture" @default.
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- W1973607110 doi "https://doi.org/10.1109/urai.2012.6462957" @default.
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