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Inverse Kinematic Control of Humanoids under Joint Constraints
| Content Provider | SAGE Publishing |
|---|---|
| Author | Kim, Inhyeok Oh, Jun-Ho |
| Copyright Year | 2013 |
| Abstract | We propose an inverse kinematic control framework for a position controlled humanoid robot with bounded joint range, velocity, and acceleration limits. The proposed framework comprises two components, an inverse kinematics algorithm and a damping controller. The proposed IKTC (Inverse Kinematics with Task Corrections) algorithm is based on the second order task-priority method in order to ensure the velocity-continuity of the solution. When the minimum norm solution exceeds the joint bounds, the problem is treated as a quadratic optimization problem with box constraints; an optimal task correction that lets the solution satisfy the constraints is found. In order to express the three kinds of joint constraints as a second order box constraint, a novel method is also proposed. The joint stiffness of a position controlled humanoid robot necessitates a damping controller to attenuate jolts caused by repeated contacts. We design a damping controller by using an inverted pendulum model with a compliant joint that takes into account the compliance around the foot. By using ZMP [20] measurement, the proposed damping controller is applicable not only in SSP (Single Support Phase) but also in DSP (Double Support Phase). The validity of the proposed methods is shown by imitating a captured whole-body human motion with a position controlled humanoid robot. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/55247?download=true |
| ISSN | 17298806 |
| Issue Number | 1 |
| Volume Number | 10 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/55247 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2013-01-01 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2013 Kim and Oh; licensee InTech. |
| Subject Keyword | Joint Constraint Inverse Kinematics Damping Controller Humanoid Robot |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
