Title :
Lifting motion planning for humanoid robots
Author :
Hung-yi Lee ; Han-Pang Huang ; Huan-Kun Hsu
Author_Institution :
Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
This paper proposes a method to design COG and end-effector trajectories for whole body motion planning. The IK-solver makes calculations for 24 joints, which include the six joints in each of the robot legs and arms. Using force sensors that was installed on the wrists and ankles, the robot can move objects in three different ways. Based on the information of force sensors, the robot is able to adjust the COG trajectory.
Keywords :
end effectors; force sensors; humanoid robots; legged locomotion; path planning; COG design; IK-solver; ankles; end-effector trajectory; force sensors; humanoid robots; lifting motion planning; robot arms; robot legs; whole body motion planning; wrists; Automation; Computer aided software engineering; Conferences;
Conference_Titel :
Automation Science and Engineering (CASE), 2014 IEEE International Conference on
Conference_Location :
Taipei
DOI :
10.1109/CoASE.2014.6899475
