Title :
Posture modification for biped humanoid robots based on Jacobian method
Author :
Wollherr, Dirk ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen, Germany
fDate :
28 Sept.-2 Oct. 2004
Abstract :
An online posture modification method termed Jacobi compensation is proposed which is suitable to modify precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can account for modeling errors in trajectory precalculation by shifting e.g. the center of mass (CoM) or certain parts of the humanoid mechanism to increase walking stability and performance. A theoretical analysis of stability properties is given.
Keywords :
Jacobian matrices; compensation; humanoid robots; legged locomotion; position control; Jacobian method; biped humanoid robots; online posture modification method; posture modification; task coordinate directions; Error correction; Hip; Humanoid robots; Jacobian matrices; Legged locomotion; Optimal control; Robot kinematics; Robot sensing systems; Stability analysis; Stability criteria;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389340
