NDLI: Yaw moment compensation by using full body motion

Content Provider	IEEE Xplore Digital Library
Author	Cisneros, R. Yokoi, K. Yoshida, E.
Copyright Year	2014
Description	Author affiliation: JRL, Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan (Yoshida, E.) \|\| Grad. Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Tsukuba, Japan (Cisneros, R.) \|\| Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan (Yokoi, K.)
Abstract	This paper describes a generalized approach for compensating the net yaw moment of a humanoid robot about the Zero Moment Point while performing an arbitrary motion. The proposed algorithm makes it possible to prevent unwanted / unexpected yaw rotations by compensating the net yaw moment about the Zero Moment Point using “free” joints that are unrelated to the required task motion. For example, for a walking motion the joints of the chest, neck and arms may not have an assigned task, and can be used in combination to provide such compensation. Finally, some simulation results are provided, which intend to show the validity of this approach.
Starting Page	119
Ending Page	125
File Size	825461
Page Count	7
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885682
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Robot kinematics Trajectory Robot sensing systems Humanoid robots Vectors Compensation Humanoid Yaw Moment
Content Type	Text
Resource Type	Article

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