DocumentCode :
3173838
Title :
Natural Motion Generation for Humanoid Robots
Author :
Harada, Kensuke ; Hauser, Kris ; Bretl, Tim ; Latombe, Jean-Claude
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
833
Lastpage :
839
Abstract :
This paper presents a method of generating natural-looking motion primitives for humanoid robots. An optimization-based approach is used to generate these primitives, but the objective function is tailored to each one and complexity is reduced by identifying relevant degrees of freedom. Several examples are shown in simulation: for an arm movement to reach an object, it is better to minimize the acceleration of key parts of the robot over its entire trajectory; for a single step on flat ground, it is better to minimize the torque and instantaneous angular momentum at every posture. The primitives are precomputed off-line, but might be used by on-line planner either to provide a fixed set of maneuvers or to bias a probabilistic, sample-based search for motions
Keywords :
angular momentum; humanoid robots; manipulators; mobile robots; motion control; position control; torque control; arm movement; humanoid robots; instantaneous angular momentum; natural motion generation; torque; trajectory control; Acceleration; Computer industry; Computer science; Humanoid robots; Humans; Intelligent robots; Leg; Libraries; Torque; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.281733
Filename :
4058464
Link To Document :
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