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Authors: Doik Kim ; Youngjin Choi and ChangHwan Kim

Affiliation: Intelligent Robotics Research Center, Korea Institute of Science and Technology (KIST), Korea, Republic of

Keyword(s): Humanoid, COG, COG Jacobian, Balancing, Motion Generation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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 si mulated in the paper. (More)

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 55-61. DOI: 10.5220/0001187500550061

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Kim, D.
AU - Choi, Y.
AU - Kim, C.
PY - 2005
SP - 55
EP - 61
DO - 10.5220/0001187500550061
PB - SciTePress