Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion

Title
Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion
Authors
김도익유범재
Keywords
humanoid; whole body; framework
Issue Date
2009-12
Publisher
International Conference on Humanoid Robots (humanoid 2009) (Workshop)
Abstract
Recently, robot’s working places are trying to be extended to the human’s daily life. Among various robots, a humanoid is one of the most feasible robots that can survive in the human’s life environment. In order to live in the human’s life environment, the humanoid should overcome many obstacles such as stairs, doors and furnishings, and understand how to manipulate many tools such as open and close many doors, usage of many electric home appliances. All these elemental tasks are also combined to conduct more complicated tasks such as cleaning, cooking, errands, and etc. For these complicated tasks, a humanoid must have at least two functions: the mobility and the manipulation. The mobility is one of the most important research topics for a humanoid and many excellent results have been reported in recent years. The manipulation is traditional research topic in robotics and has been successfully realized in many real robots. In order to increase the usefulness of a humanoid, these two research topics should be coordinated seamlessly with guaranteeing the balance of the humanoid. To achieve coordination of manipulation and mobility, this paper introduces a whole body motion generation method which resolves the CoM Jacobian of a humanoid with given motions of manipulation and mobility.
URI
http://pubs.kist.re.kr/handle/201004/36966
Appears in Collections:
KIST Publication > Conference Paper
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