Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Choi, Youngjin | - |
dc.contributor.author | Kim, Doilk | - |
dc.contributor.author | Oh, Yonghwan | - |
dc.contributor.author | You, Bum-Jae | - |
dc.date.accessioned | 2021-06-23T19:02:08Z | - |
dc.date.available | 2021-06-23T19:02:08Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2007-12 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/43202 | - |
dc.description.abstract | This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of whole body coordination to humanoid robot. Third, the posture/walking controller is completed by adding the CoM controller minus the zero moment point controller to the suggested kinematic resolution method. We prove that the proposed posture/walking controller brings the disturbance input-to-state stability for the simplified bipedal walking robot model. Finally, the effectiveness of the suggested posture/walking control method is shown through experiments with regard to the arm dancing and walking of humanoid. robot. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.title | Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Choi, Youngjin | - |
dc.identifier.doi | 10.1109/TRO.2007.904907 | - |
dc.identifier.scopusid | 2-s2.0-37549030489 | - |
dc.identifier.wosid | 000251944100020 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Robotics, v.23, no.6, pp.1285 - 1293 | - |
dc.relation.isPartOf | IEEE Transactions on Robotics | - |
dc.citation.title | IEEE Transactions on Robotics | - |
dc.citation.volume | 23 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1285 | - |
dc.citation.endPage | 1293 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordAuthor | center of mass (CoM) | - |
dc.subject.keywordAuthor | CoM Jacobian | - |
dc.subject.keywordAuthor | disturbance input-to-state stability (ISS) | - |
dc.subject.keywordAuthor | humanoid robot | - |
dc.subject.keywordAuthor | posture/walking control | - |
dc.subject.keywordAuthor | whole body coordination (WBC) | - |
dc.subject.keywordAuthor | zero moment point (ZMP) | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/4359259 | - |
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