Paper Abstract and Keywords |
Presentation |
2014-03-18 15:20
Repetitive control of a humanoid robot with consideration of balance constraints Kenji Goto, ChangHyun Sung, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2013-142 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
The motion of a humanoid robot should be planned to achieve a given task, subject to meeting various constraints including standing balance and joint angle. In this study, we address replanning of whole body motion using the minimum jerk trajectory with a via-point. A via-point is pecified on a joint angle trajectory to satisfy the task conditions, some perturbation is given to the via-point, and the relation the between the via-point and the result is expressed as Jacobian. The motion can be modified to achieve the task by the chane of the via-point using the Jacobian. Furthermore, considering the limitation of standing balance,
the modification parameter is limited for the cause of the constraints.
We applied the repetitive control method to the throwing motion of a humanoid robot HOAP-3, and confirmed the effectiveness. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Humanoid robot / ZMP / Repetitive control / Motion planning / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 113, no. 500, NC2013-142, pp. 311-316, March 2014. |
Paper # |
NC2013-142 |
Date of Issue |
2014-03-10 (NC) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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NC2013-142 |
Conference Information |
Committee |
NC MBE |
Conference Date |
2014-03-17 - 2014-03-18 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Tamagawa University |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
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Paper Information |
Registration To |
NC |
Conference Code |
2014-03-NC-MBE |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Repetitive control of a humanoid robot with consideration of balance constraints |
Sub Title (in English) |
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Keyword(1) |
Humanoid robot |
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ZMP |
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Repetitive control |
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Motion planning |
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1st Author's Name |
Kenji Goto |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
ChangHyun Sung |
2nd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Takahiro Kagawa |
3rd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
4th Author's Name |
Yoji Uno |
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Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2014-03-18 15:20:00 |
Presentation Time |
20 minutes |
Registration for |
NC |
Paper # |
NC2013-142 |
Volume (vol) |
vol.113 |
Number (no) |
no.500 |
Page |
pp.311-316 |
#Pages |
6 |
Date of Issue |
2014-03-10 (NC) |
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