NDLI: Dynamic acyclic motion from a planar contact-stance to another

Content Provider	IEEE Xplore Digital Library
Author	Arbulu, M. Yokoi, K. Kheddar, A. Balaguer, C.
Copyright Year	2008
Description	Author affiliation: Dept. of Syst. & Autom. Eng., Univ. Carlos III of Madrid, Leganes (Arbulu, M.)
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.
Starting Page	3440
Ending Page	3445
File Size	377761
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650978
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Foot Joints Robots Dynamics Leg Jacobian matrices Knee
Content Type	Text
Resource Type	Article

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