DocumentCode :
3094976
Title :
Dynamic acyclic motion from a planar contact-stance to another
Author :
Arbulu, Mario ; YOKOI, Kazuhito ; Kheddar, Abderrahmane ; Balaguer, Carlos
Author_Institution :
Dept. of Syst. & Autom. Eng., Univ. Carlos III of Madrid, Leganes
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
3440
Lastpage :
3445
Abstract :
This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.
Keywords :
Lie groups; humanoid robots; mobile robots; path planning; robot dynamics; robot kinematics; splines (mathematics); stability; Lie group; dynamic acyclic motion generation; dynamic stability; humanoid robot; planar contact-stance; robot dynamics; robot kinematics; screw theory; splines; statically stable configuration; zero moment point preview control; Dynamics; Foot; Jacobian matrices; Joints; Knee; Leg; Robots;
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.2008.4650978
Filename :
4650978
Link To Document :
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