NDLI: Utilization of Movement Prioritization for Whole-Body Humanoid Robot Trajectory Generation

Content Provider	IEEE Xplore Digital Library
Author	Naksuk, N. Lee, C.S.G.
Copyright Year	2005
Description	Author affiliation: School of Electrical and Computer Engineering Purdue University West Lafayette, IN 47907-2035 naksuk@purdue.edu (Naksuk, N.)
Abstract	This paper addresses the problem of whole-body trajectory generation in humanoid robot performing a manipulation task. The approach utilizes coordination of prioritized movements of the Center of Mass (CM), foot and hand. A Center of Mass trajectory is computed from the desired Zero Moment Point (ZMP) trajectory while stepping. The ability to maneuver horizontal CM is related to the ability to maintain balance. Generally, the vertical CM movement is left unspecified. In this paper, the horizontal CM manipulability is associated with the CM height through the shape of the CM manipulability ellipsoid. A posture with a larger horizontal CM manipulability ellipsoid is more stable in the sense that its CM can be easily maneuvered as required by the desired ZMP with less joint effort. Computer simulation was conducted to verify the performance and consistency of the proposed approach for generating balance stepping motion with a manipulation task.
Starting Page	1079
Ending Page	1084
File Size	221405
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570259
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Foot Stability Iterative algorithms Ellipsoids Legged locomotion Leg Shape Computer simulation Robot control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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