DocumentCode :
2137720
Title :
Biologicaly inspired on-line generation of complex movements using primitives
Author :
Borovac, Branislav ; Rakovic, Mirko ; Nikolic, Milutin
Author_Institution :
Fac. of Tech. Sci., Univ. of Novi Sad, Novi Sad, Serbia
fYear :
2011
fDate :
11-15 April 2011
Firstpage :
99
Lastpage :
106
Abstract :
The objective of this work is to demonstrate the possibility of using primitives for on-line generation of complex movements that ensure motion of bipedal humanoid robots in unstructured environment where on-line generation of motion is required. Primitives represent simple movements that are either reflex or learned. Each primitive has its parameters and constraints that are determined on the basis of the movements capable of performing by a human. The set of all primitives represents the base from which primitives are selected and combined for the purpose of performing the corresponding complex movement. It is convenient to describe primitives on the kinematic level (shape of motion is easily visible) but motion have to be learned and executed as set of synchronized driving torques (to system are forwarded corresponding motor control variables). Shape of executed motion serve as a visual supervision of motion appropriateness.
Keywords :
humanoid robots; legged locomotion; robot kinematics; torque; biologically inspired online motion generation; bipedal humanoid robot motion; complex movement generation; robot kinematics; synchronized driving torque; visual supervision; Hip; Humans; Joints; Knee; Leg; Legged locomotion; humanoid; pattern generation; primitives;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on
Conference_Location :
Paris
Print_ISBN :
978-1-4244-9885-7
Type :
conf
DOI :
10.1109/RIISS.2011.5945789
Filename :
5945789
Link To Document :
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