DocumentCode
3190638
Title
Static Walk of a Humanoid Robot Based on the Singularity-Consistent Method
Author
Takahashi, K. ; Noda, M. ; Nenchev, D.N. ; Tsumaki, Y. ; Sekiguchi, A.
Author_Institution
Dept. of Mech. Syst. Eng., Musashi Inst. of Technol., Tokyo
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
5484
Lastpage
5489
Abstract
This paper addresses the problem of naturally looking and energy efficient walk of biped humanoids. We presuppose that such walk requires motion control capability around kinematic singularities, such that the knee can be fully extended. This problem is tackled by adopting the singularity-consistent method developed for manipulator motion control at and around kinematic singularities. We implemented the method with a HOAP-2 humanoid robot, demonstrating stable static walk as a first step in this direction
Keywords
humanoid robots; legged locomotion; motion control; robot kinematics; HOAP-2 humanoid robot; biped humanoid robots; kinematic singularities; motion control; singularity-consistent method; static walk; Equations; Humanoid robots; Intelligent robots; Jacobian matrices; Kernel; Kinematics; Knee; Leg; Mechanical systems; Motion control;
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.2006.282182
Filename
4059302
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