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Conference Paper: Autonomous valve turning with an Atlas humanoid robot

TitleAutonomous valve turning with an Atlas humanoid robot
Authors
Newman, WChong, ZHDu, CHung, RTWLee, KHNg, TWLSwetenham, CETjoeng, KKSWang, W
Issue Date2014
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7028729
Citation
The 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 18-20 November 2014. In Conference Proceedings, 2014, p. 748-748 How to Cite?
DOI: http://dx.doi.org/10.1109/HUMANOIDS.2014.7041407
AbstractFast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable to human performance. © 2014 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/218678
ISBN
978-1-4799-7174-9

 

DC FieldValueLanguage
dc.contributor.authorNewman, W-
dc.contributor.authorChong, ZH-
dc.contributor.authorDu, C-
dc.contributor.authorHung, RTW-
dc.contributor.authorLee, KH-
dc.contributor.authorNg, TWL-
dc.contributor.authorSwetenham, CE-
dc.contributor.authorTjoeng, KKS-
dc.contributor.authorWang, W-
dc.date.accessioned2015-09-18T06:50:01Z-
dc.date.available2015-09-18T06:50:01Z-
dc.date.issued2014-
dc.identifier.citationThe 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), Madrid, Spain, 18-20 November 2014. In Conference Proceedings, 2014, p. 748-748-
dc.identifier.isbn978-1-4799-7174-9-
dc.identifier.urihttp://hdl.handle.net/10722/218678-
dc.description.abstractFast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable to human performance. © 2014 IEEE.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7028729-
dc.relation.ispartofIEEE / RAS International Conference on Humanoid Robots-
dc.rightsIEEE / RAS International Conference on Humanoid Robots. Copyright © IEEE.-
dc.rights©2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleAutonomous valve turning with an Atlas humanoid robot-
dc.typeConference_Paper-
dc.identifier.emailChong, ZH: reevezhc@hku.hk-
dc.identifier.emailHung, RTW: rtwhung@hku.hk-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1109/HUMANOIDS.2014.7041407-
dc.identifier.scopuseid_2-s2.0-84945182873-
dc.identifier.hkuros254924-
dc.identifier.spage748-
dc.identifier.epage748-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 151119-

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