MOTION-EMBEDDED COG JACOBIAN FOR A REAL-TIME HUMANOID MOTION GENERATION

Doik Kim, Youngjin Choi, ChangHwan Kim

Abstract

For a legged robot such as a humanoid, balancing its body during a given motion is natural but the most important problem. Recently, a motion given to a humanoid is more and more complicated, and thus the balancing problem becomes much more critical. This paper suggests a real-time motion generation algorithm that guarantees a humanoid to be balanced during implementing a given motion. A desired motion of each arm and/or leg is planned by the conventional motion planning method without considering the balancing problem. In order to balance a humanoid, all the given motions are embedded into the COG Jacobian. The COG Jacobian is modified to include the desired motions and, as a result, dimension of the COG Jacobian is drastically reduced. With the motion-embedded COG Jacobian, balancing and performing a task is completed simultaneously, without changing any other parameters related to the control or planning. Validity and efficiency of the proposed motion-embedded COG Jacobian is simulated in the paper.

References

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Paper Citation


in Harvard Style

Kim D., Choi Y. and Kim C. (2005). MOTION-EMBEDDED COG JACOBIAN FOR A REAL-TIME HUMANOID MOTION GENERATION . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 55-61. DOI: 10.5220/0001187500550061


in Bibtex Style

@conference{icinco05,
author={Doik Kim and Youngjin Choi and ChangHwan Kim},
title={MOTION-EMBEDDED COG JACOBIAN FOR A REAL-TIME HUMANOID MOTION GENERATION},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={55-61},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001187500550061},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION-EMBEDDED COG JACOBIAN FOR A REAL-TIME HUMANOID MOTION GENERATION
SN - 972-8865-30-9
AU - Kim D.
AU - Choi Y.
AU - Kim C.
PY - 2005
SP - 55
EP - 61
DO - 10.5220/0001187500550061