Physical Sciences and Mathematics Commons^™

Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz

UNLV Theses, Dissertations, Professional Papers, and Capstones

Material handling is an intrinsic component of disaster response. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. For many years, researchers from around the globe have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations of humanoids in the realm of interaction with common objects such as carts, wheelbarrows, etc. Throughout this research, many methods will be applied to ensure a stable Zero Moment Point (ZMP) trajectory to allow a robust gait while loco-manipulating a cart. The …