DocumentCode :
3089238
Title :
Motion control of a virtual humanoid that can perform real physical interactions with a human
Author :
Nagasaka, Kenichiro ; Miyamoto, Atsushi ; Nagano, Masakuni ; Shirado, Hirokazu ; Fukushima, Tetsuharu ; Fujita, Masahiro
Author_Institution :
Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
2303
Lastpage :
2310
Abstract :
This paper proposes a multi-objective, highly generalized and efficient control framework for a virtual character performing various physical interactions in a dynamically simulated world. The framework comprises 1) a generalized inverse dynamics that determines joint forces satisfying multiple objectives considering priorities, unactuated joints and inequality constraints about contacts, 2) a generalized stabilizer available in various contact situations based on the long-term momentum stabilization and 3) a motion primitive network for realizing composite motions by modularizing and interconnecting motion functions. By applying the proposed framework, various interactions with a virtual humanoid, such as basic reflections and carrying objects, are realized in real time with a tactile sensation through the two-armed multi-fingered haptic device we developed.
Keywords :
haptic interfaces; humanoid robots; manipulator dynamics; mobile robots; motion control; virtual reality; generalized inverse dynamics; long-term momentum stabilization; real physical interaction; tactile sensation; two-armed multifingered haptic device; unactuated joints force; virtual humanoid motion control; Acceleration; Dynamics; Force; Indexes; Jacobian matrices; Joints; Physics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650680
Filename :
4650680
Link To Document :
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