Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion
- Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion
- 김도익; 유범재
- humanoid; whole body; framework
- Issue Date
- International Conference on Humanoid Robots (humanoid 2009) (Workshop)
- 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.
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- KIST Publication > Conference Paper
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