Abstract / Description of output
This paper presents an approach to the control
of humanoid robot motion, e.g., holding another robot or
tangled interactions involving multiple limbs, in a space defined
by ’topology coordinates’. The constraints of tangling can
be linearized at every frame of motion synthesis, and can
be used together with constraints such as defined by the
Zero Moment Point, Center of Mass, inverse kinematics and
angular momentum for computing the postures by a linear
programming procedure. We demonstrate the utility of this
approach using the simulator for the Nao humanoid robot.
We show that this approach enables us to synthesize complex
motion, such as tangling, very efficiently.
Original language | English |
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Title of host publication | Proceedings of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2010), Taiwan (2010). |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 178-182 |
Number of pages | 5 |
ISBN (Print) | 978-1-4244-6675-7 |
DOIs | |
Publication status | Published - 2010 |
Keywords / Materials (for Non-textual outputs)
- humanoid robot motion