@InProceedings{arisumi:iros:2009,
  author    = {Arisumi, Hitoshi and Chardonnet, Jean-R{\'e}my and Yokoi, Kazuhito},
  title     = {Whole-body motion of a Humanoid robot for passing through a door - Opening a door by impulsive force},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2009},
  address   = {St. Louis (MO), USA},
  month     = {October 11-October 15},
  url       = {http://vigir.missouri.edu/\textasciitilde gdesouza/Research/Conference\_CDs/IEEE\_IROS\_2009/papers/1377.pdf},
  keywords  = {Humanoid robot, Dynamic whole body manipulation, ZMP, Impact},
  doi       = {10.1109/IROS.2009.5354087},
  abstract  = {There are many kinds of large, heavy objects, or objects with geometrical constraints in our daily life, but non-fixed robots such as humanoid robots are still not able to manipulate them sufficiently well. In this paper we focus on a swing door as a heavy object with geometrical constraints, and present a method for the humanoid robots to open it by using impulsive forces. We first discuss on momentum transfer from the robot to the door. Then we propose a method of generating a whole body motion to impact on the door. We analyze the dynamic model of the door, and we confirm the validity of our method through simulation. At last, we realize a motion of the robot opening a swing door quickly by the method in experiment with the HRP-2 robot hardware.}
}