Controlling humanoid robots in topology coordinates

Ho, Edmond S. L., Komura, Taku, Ramamoorthy, Subramanian and Vijayakumar, S. (2010) Controlling humanoid robots in topology coordinates. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 18th - 22nd October 2010, Taipei, Taiwan.

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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.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Nao humanoid robot, controlling humanoid robots, topology coordinates, humanoid robot motion, tangled interactions, motion synthesis, zero moment point, center of mass, inverse kinematics, angular momentum, linear programming procedure
Subjects: G400 Computer Science
Department: Faculties > Engineering and Environment > Computer and Information Sciences
Depositing User: Paul Burns
Date Deposited: 01 Mar 2018 16:37
Last Modified: 11 Oct 2019 21:47

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