DocumentCode
425984
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
Volume
1
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
124
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389340
Filename
1389340
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