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
김도익유범재오상록
Keywords
humanoids; whole-body; balance; tele-operation; Anthropomorphic Bipedal Walking Systems; Biped Walking; Humanoid Robots; Optimized Walking Motions
Issue Date
2013-12
Publisher
Modeling, Simulation and Optimization of Bipedal Walking
Citation
VOL 18, 87-98
Abstract
A walking motion of a humanoid has been analyzed or developed without considering motions of the remaining parts of the humanoid. In order to perform tasks in the human’s living environment, a walking motion and assigned tasks must be considered at the same time. In this paper, a whole body motion generation method, i.e., the motion embedded CoM Jacobian method is introduced. With the method, a balance control and assigned motions are separated and thus, the assigned motions can be generated without considering balance of a humanoid. As experimental examples, whole body motion of a humanoid is assigned by the teleoperation. Arbitrarily assigned upper body motions and independently generated walking motions are combined to generate a balanced whole body motion with the suggested methods.
URI
http://pubs.kist.re.kr/handle/201004/47664
ISSN
18674925
Appears in Collections:
KIST Publication > ETC
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