Abstract
This paper studies the integration of manipulation and locomotion by a humanoid robot. We will show that the walk and work capabilities of a humanoid robot can be enhanced by integrating manipulation and locomotion. Especially, we focus on three motions of a humanoid robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while holding a handrail for support. These motions are realized by experiment using the humanoid robot HRP-2.
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© 2006 Springer-Verlag Berlin Heidelberg
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Harada, K., Kajita, S., Saito, H., Kanehiro, F., Hirukawa, H. (2006). Integration of Manipulation and Locomotion by a Humanoid Robot. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_18
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DOI: https://doi.org/10.1007/11552246_18
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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