DocumentCode
2197287
Title
A Method Determining the Reaching Behavior of Humanoid Robots
Author
Na, Haitao ; Neo, Ee Sian ; YOKOI, Kazuhito
Author_Institution
Univ. of Tsukuba, Tsukuba
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
1535
Lastpage
1540
Abstract
This paper addresses the problem of the reaching motion of humanoid robots. In order to determine the necessary motions for reaching, an object-orientated reachable space (ORS) concept is proposed. After checking whether an object is reachable or unreachable, a standing point (i.e. where the humanoid should stand) is calculated. A method of generating a reaching motion is also described. Simulation results with the humanoid simulator OpenHRP demonstrate the effectiveness of the proposed method.
Keywords
control engineering computing; humanoid robots; object-oriented methods; open systems; OpenHRP; humanoid robots; humanoid simulator; object-orientated reachable space concept; reaching behavior; reaching motion; Biomimetics; Control systems; Humanoid robots; Humans; Legged locomotion; Motion control; Motion detection; Object detection; Object oriented modeling; Orbital robotics; Humanoid robot; Object oriented reachable space; Reaching motion;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location
Kunming
Print_ISBN
1-4244-0570-X
Electronic_ISBN
1-4244-0571-8
Type
conf
DOI
10.1109/ROBIO.2006.340157
Filename
4142094
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