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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.23501 |
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| _version_ | 1866916766484004864 |
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| author | Murooka, Masaki Okada, Kei Inaba, Masayuki |
| author_facet | Murooka, Masaki Okada, Kei Inaba, Masayuki |
| contents | Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-body contact. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_23501 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface Murooka, Masaki Okada, Kei Inaba, Masayuki Robotics Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-body contact. |
| title | Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.23501 |