DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, In-Hyeok | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2013-08-08T06:06:26Z | - |
dc.date.available | 2013-08-08T06:06:26Z | - |
dc.date.created | 2013-04-16 | - |
dc.date.created | 2013-04-16 | - |
dc.date.issued | 2013-01 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.10 | - |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | http://hdl.handle.net/10203/174910 | - |
dc.description.abstract | We propose an inverse kinematic control framework for a position controlled humanoid robot with bounded joint range, velocity, and acceleration limits. The proposed framework comprises two components, an inverse kinematics algorithm and a damping controller. The proposed IKTC (Inverse Kinematics with Task Corrections) algorithm is based on the second order task-priority method in order to ensure the velocity-continuity of the solution. When the minimum norm solution exceeds the joint bounds, the problem is treated as a quadratic optimization problem with box constraints; an optimal task correction that lets the solution satisfy the constraints is found. In order to express the three kinds of joint constraints as a second order box constraint, a novel method is also proposed. The joint stiffness of a position controlled humanoid robot necessitates a damping controller to attenuate jolts caused by repeated contacts. We design a damping controller by using an inverted pendulum model with a compliant joint that takes into account the compliance around the foot. By using ZMP [20] measurement, the proposed damping controller is applicable not only in SSP (Single Support Phase) but also in DSP (Double Support Phase). The validity of the proposed methods is shown by imitating a captured whole-body human motion with a position controlled humanoid robot. | - |
dc.language | English | - |
dc.publisher | INTECH -OPEN ACCESS PUBLISHER | - |
dc.subject | REDUNDANT MANIPULATORS | - |
dc.subject | OBSTACLE AVOIDANCE | - |
dc.subject | ROBOT MANIPULATORS | - |
dc.subject | LIMITS | - |
dc.subject | SCHEME | - |
dc.title | Inverse Kinematic Control of Humanoids Under Joint Constraints | - |
dc.type | Article | - |
dc.identifier.wosid | 000316461300002 | - |
dc.identifier.scopusid | 2-s2.0-84876847933 | - |
dc.type.rims | ART | - |
dc.citation.volume | 10 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.identifier.doi | 10.5772/55247 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.description.isOpenAccess | Y | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Inverse Kinematics | - |
dc.subject.keywordAuthor | Joint Constraint | - |
dc.subject.keywordAuthor | Damping Controller | - |
dc.subject.keywordAuthor | Humanoid Robot | - |
dc.subject.keywordPlus | REDUNDANT MANIPULATORS | - |
dc.subject.keywordPlus | OBSTACLE AVOIDANCE | - |
dc.subject.keywordPlus | ROBOT MANIPULATORS | - |
dc.subject.keywordPlus | LIMITS | - |
dc.subject.keywordPlus | SCHEME | - |
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