인간형 로봇의 최적 초기 자세An Optimal Initial Configuration of a Humanoid Robot
- Other Titles
- An Optimal Initial Configuration of a Humanoid Robot
- Authors
- 성영휘; 조동권
- Issue Date
- 2007
- Publisher
- 대한전기학회
- Keywords
- Humanoid robot; Redundancy resolution; Manipulability; Stability1. 서 론†교신저자; 正會員 : 金烏工科大學校 電子工學部 副敎授工博E-mail : ywsung@kvmoh.ac.kr*正 會 員 : KT 未來技術硏究所 首席硏究員工博接受日字 : 2006年 7月 19日最終完了 : 2006年 11月 7日
- Citation
- 전기학회논문지ABCD, v.56, no.1, pp.167 - 173
- Journal Title
- 전기학회논문지ABCD
- Volume
- 56
- Number
- 1
- Start Page
- 167
- End Page
- 173
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/3294
- ISSN
- 1229-2443
- Abstract
- - This paper describes a redundancy resolution based method for determining an optimal initial configuration of a humanoid robot for holding an object. There are three important aspects for a humanoid robot to be able to hold an object. Those three aspects are the reachability that guarantees the robot to reach the object, the stability that guarantees the robot to remain stable while moving or holding the object, and the manipulability that makes the robot manipulate the object dexterously. In this paper, a humanoid robot with 20 degrees of freedom is considered. The humanoid robot is kinematically redundant and has infinite number of solutions for the initial configuration problem. The complex three-dimensional redundancy resolution problem is divided into two simple two-dimensional redundancy resolution problems by incorporating the symmetry of the problem, robot’s moving capability, and the geometrical characteristics of the given robot. An optimal solution with respect to the reachability, the stability, and the manipulability is obtained by solving these two redundancy resolution problems.
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