NDLI: HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control

Content Provider	IEEE Xplore Digital Library
Author	Mombaur, K. Sreenivasa, M.N.
Copyright Year	2010
Description	Author affiliation: LAAS-CNRS, 7 Avenue du Colonel Roche, 31077 Toulouse, France (Mombaur, K.; Sreenivasa, M.N.)
Abstract	Yoyo playing may seem easy for a human, but it is a challenging problem for a humanoid robot. This paper presents an approach to generate yoyo motions for the humanoid robot, HRP-2, based on motion recorded from human yoyo playing, dynamical models and numerical optimal control techniques. We recorded vertical yoyo playing of 4 subjects measuring yoyo height and rotation angle as well as the corresponding hand motions. A detailed multi-phase yoyo model with impact collisions and control patterns of human yoyo playing were identified from these measurements. Based on this knowledge, reliable yoyo motions within the feasibility ranges of HRP-2 were generated using optimal control. The resulting motions have been implemented on the robot using open-loop and event-based quasi open-loop control strategies.
Starting Page	3369
Ending Page	3376
File Size	1652857
Page Count	8
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509780
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Optimal control Humanoid robots Motion control Open loop systems Feedback Robotics and automation USA Councils Numerical models Rotation measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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