Material Handling by Humanoid Robot While Pushing Carts Using a Walking Pattern Based on Capture Point
Jean Chagas Vaz,Paul Oh,Jean Chagas Vaz,Paul Oh
This paper presents a study that evaluates the effects on the walking pattern of a full-sized humanoid robot as it pushes different carts. Furthermore, it discuss a modified Zero Moment Point (ZMP) pattern based on a capture point method, and a friction compensation method for the arms. Humanoid researchers have demonstrated that robots can perform a wide range of tasks including handling tools, c...
