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Natural sit-down and chair-rise motions for a humanoid robot
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering (NTNU), Robotics and Control Lab (Umeå University))
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Department of Engineering Cybernetics, Norwegian University of Science and Technology. (Robotics and Control Engineering)
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2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-50066DOI: 10.1109/CDC.2010.5717358ISI: 000295049101062OAI: oai:DiVA.org:umu-50066DiVA: diva2:458847
Conference
49th IEEE conference on decision and control cdc 2010, December 15-17 2010, Atlanta, Georgia, USA
Available from: 2011-11-24 Created: 2011-11-24 Last updated: 2011-12-30Bibliographically approved

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Shiriaev, AntonFreidovich, LeonidMettin, Uwe
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Citation style
  • apa
  • ieee
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  • Other style
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Language
  • de-DE
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  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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  • asciidoc
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