loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Doik Kim ; Youngjin Choi and ChangHwan Kim

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

ISBN: 972-8865-30-9

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 sim ulated in the paper. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.88.156.58

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Kim D.; Choi Y.; Kim C. and (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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.