Multi-constrained motion planning of a planar type humanoid using kinematic redundancy
- Title
- Multi-constrained motion planning of a planar type humanoid using kinematic redundancy
- Author
- 최영진
- Keywords
- Kinematic redundancy; Multi-constrained motion; Sawing task
- Issue Date
- 2007-10
- Publisher
- IEEE
- Citation
- 2007 International Conference on Control, Automation and Systems, Page. 622-627
- Abstract
- The human being carries out multiple works simutaneously. Generally, two legs are constrained to the ground while two arms are performing some other jobs. Sometimes not only two legs but also any parts of the human body such as hand, elbow, head, etc. are kinematically constrained to the environment for special purpose. Sawing motion is one example of the multi-constrained motions. When a person saws a wood, two legs are constrained to the ground and one arm holds the object being sawn on the table so that another arm carries out a stable sawing task. In this paper, we introduces a new motion planning algorithm for a multi-constrained planar type humanoid robot, which exploits "redundant degrees of freedom" of the whole-body humanoid structure. A sequential redundancy resolution algorithm is employed, which ensures the ZMP stability and the planned multi-constrained motion. The feasibility of the proposed algorithm is verified by simulating a sawing motion for a planar humanoid model.
- URI
- https://ieeexplore.ieee.org/document/4407098https://repository.hanyang.ac.kr/handle/20.500.11754/107058
- ISBN
- 978-89-950038-6-2
- DOI
- 10.1109/ICCAS.2007.4407098
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML