Natural sit-down and chair-rise motions for a humanoid robot
2010 (English)Conference paper (Refereed)
We discuss a constructive procedure for planning human-like motions of humanoid robots on finite-time intervals. Besides complying with various constraints present in the robot dynamics, it allows us to reflect certain features of recorded and analyzed motions of a test person, even though the dimensions, the mass distribution, and the actuation of the robot are different. So, the steps in motion planning are complemented by a novel algorithm for control design to ensure contraction of the orbits of various perturbed closed-loop motions to the orbit of the prescribed target trajectory.
Place, publisher, year, edition, pages
2010. 1136-1141 p.
IdentifiersURN: urn:nbn:se:umu:diva-50066DOI: 10.1109/CDC.2010.5717358ISI: 000295049101062OAI: oai:DiVA.org:umu-50066DiVA: diva2:458847
49th IEEE conference on decision and control cdc 2010, December 15-17 2010, Atlanta, Georgia, USA