Keyframed motion planning is a technique that specifies a robot motion by its joint variable samples in discrete time-steps. In this paper, we aim to provide an off-line (i.e. non real-time) dynamic motion optimizing method for keyframed humanoids. Let´s assume that a desired reference movement has been designed, it can be simulated using a real-time kinematics model. Due to dynamic effects the robot segments will not exactly follow the reference trajectories. Assuming a detailed, sophisticated dynamics model (running offline) we can formulate a norm that expresses the difference of dynamic and kinematic simulations. In this article we present our idea, how the motion could be automatically tailored by lowering this norm using numerical methods in a way, that the output of the dynamic model better approximates the reference motion. Finally, we show our experimental results within a modern simulation environment as well as on our test humanoid platform.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Beyond the limits of kinematics in planning keyframed biped locomotion


    Beteiligte:

    Erscheinungsdatum :

    03.05.2011


    Anmerkungen:

    doi:10.3311/pp.ee.2009-1-2.01
    Periodica Polytechnica Electrical Engineering (Archives); Vol 53 No 1-2 (2009); 3-9 ; 1587-3781 ; 0324-6000



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Practical Aspects of Biped Locomotion

    Gienger, Michael / Loffler, Klaus / Pfeiffer, Friedrich | Springer Verlag | 2003


    Biped Locomotion by Reduced Ankle Power

    Keon Young Yi / Zheng, Y. F. | British Library Online Contents | 1997


    A modular framework to generate robust biped locomotion: from planning to control

    Kasaei, Mohammadreza / Ahmadi, Ali / Lau, Nuno et al. | BASE | 2021

    Freier Zugriff

    Locomotion Control of a Biped Robot Using Nonlinear Oscillators

    Aoi, S. / Tsuchiya, K. | British Library Online Contents | 2005


    Stabilization of Biped Locomotion Utilizing Compensation in Double-Supporting Phase

    Toda, K. / Furuta, T. / Tomiyama, K. et al. | British Library Conference Proceedings | 2002