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dc.contributor.authorYoo, Seungjae-
dc.contributor.authorOh, Yonghwan-
dc.date.accessioned2024-01-19T10:37:34Z-
dc.date.available2024-01-19T10:37:34Z-
dc.date.created2022-03-07-
dc.date.issued2019-02-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/114319-
dc.description.abstractThe balance control for humanoids with null space projection to the contact constrained space has been widely proposed. In this paper, we propose a new formalism for the balance control using null space dynamics to the constrained space. By parameterizing null space tasks through the general solution of inverse kinematics, the null space dynamics can be achieved. Its equation of motion is clearly decoupled with the constrained force and it fully covers the robot motion. It is worth to remark that the control of humanoid robot can be regarded as a regulation problem of manipulator robot on the null space dynamics at active constraints. The simple controller based on computed torque method and the simulation results are given in this paper to verify the formalism.-
dc.languageEnglish-
dc.publisherASSOC COMPUTING MACHINERY-
dc.titleMinimal Null Space Task Parameterization for Balance Control of Humanoid robot-
dc.typeConference-
dc.identifier.doi10.1145/3314493.3314507-
dc.description.journalClass1-
dc.identifier.bibliographicCitation5th International Conference on Mechatronics and Robotics Engineering (ICMRE), pp.130 - 133-
dc.citation.title5th International Conference on Mechatronics and Robotics Engineering (ICMRE)-
dc.citation.startPage130-
dc.citation.endPage133-
dc.citation.conferencePlaceUS-
dc.citation.conferencePlaceRome, ITALY-
dc.citation.conferenceDate2019-02-16-
dc.relation.isPartOfPROCEEDINGS OF 2019 5TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND ROBOTICS ENGINEERING (ICMRE 2019)-
dc.identifier.wosid000473802700026-
dc.identifier.scopusid2-s2.0-85065198390-
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KIST Conference Paper > 2019
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