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.
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