Whole-Body Manipulation
Title | Whole-Body Manipulation |
Publication Type | Book Chapter |
Year of Publication | 2020 |
Authors | Stasse, O, Righetti, L |
Book Title | Encyclopedia of Robotics |
Pagination | 1–9 |
Publisher | Springer Berlin Heidelberg |
City | Berlin, Heidelberg |
ISBN Number | 978-3-642-41610-1 |
Keywords | manipulation, whole-body |
Abstract | Whole-body manipulation refers to the manipulation of objects that necessitate theuse of all or most of the degrees of freedom of a robot beyond the use of itsarms. This term usually applies to robots with kinematic structures that are morecomplicated than a fixed-base manipulator, for example humanoid robots. Robotscapable of whole-body manipulation are generally not grounded to the floor and veryredundant. A humanoid robot moving a cabinet is a prime example where movementof the entire body is necessary to manipulate the object. |
URL | https://doi.org/10.1007/978-3-642-41610-1_187-1 |
DOI | 10.1007/978-3-642-41610-1_187-1 |
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