NDLI: Inverse Kinematic Control of Humanoids Under Joint Constraints Regular Paper

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Inverse Kinematic Control of Humanoids Under Joint Constraints Regular Paper

Content Provider	Semantic Scholar
Author	Kim, Inhyeok
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.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://koasas.kaist.ac.kr/bitstream/10203/174910/1/000316461300002.pdf
Language	English
Access Restriction	Open
Subject Keyword	AICA ribonucleotide Algorithm Compliance behavior Controllers Humanoid robot Inverse kinematics Inverted pendulum Joint constraints Joint stiffness Kinesiology Mathematical optimization Optimization problem Turing degree Velocity (software development) Zero moment point
Content Type	Text
Resource Type	Article

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