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; 오상록
- humanoids; whole-body; balance; tele-operation; Anthropomorphic Bipedal Walking Systems; Biped Walking; Humanoid Robots; Optimized Walking Motions
- Issue Date
- Modeling, Simulation and Optimization of Bipedal Walking
- VOL 18, 87-98
- 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
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- KIST Publication > ETC
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