Realization of Biped Walking in Unstructured Environment Using Motion Primitives
作者： Mirko Rakovic , Branislav Borovac , Milutin Nikolic , Srdran Savic
关键词:
摘要: Effective and efficient motion of humanoid robots in unstructured dynamic environments is a prerequisite for their activity the living working environment humans. Motion such has to be adjusted all time suit current conditions. This paper presents method synthesis realization biped robot (walking) composed simple movements—primitives, because any complex can tied primitives. The primitives are parametrized with relationship established between overall characteristics own parameters. way, it possible achieve online modification at moment. proposed solution was tested by simulation involving model. results demonstrate that generate dynamically balanced walk modified moment its realization.
sci-hub.se 参考文章(29)
Borovac Branislav, Mirko Raković, Milutin Nikolić, Online Generation of Biped Robot Motion in an Unstructured Environment Springer, Berlin, Heidelberg. pp. 93- 114 ,(2013) , 10.1007/978-3-642-33959-2_6
Stefan Schaal, Dynamic Movement Primitives -A Framework for Motor Control in Humans and Humanoid Robotics Adaptive Motion of Animals and Machines. pp. 261- 280 ,(2006) , 10.1007/4-431-31381-8_23
Kris Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe, Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots international workshop algorithmic foundations robotics. pp. 507- 522 ,(2008) , 10.1007/978-3-540-68405-3_32
Nguyen, HT Nguyen, QP Ha, A Chattering-Free Variable Structure Controller for Tracking of Robotic Manipulators ARAA Australian Robotics and Automation Association. ,(2003)
Lige Zhang, Shusheng Bi, Dengchao Liu, Dynamic Leg Motion Generation of Humanoid Robot Based on Human Motion Capture international conference on intelligent robotics and applications. pp. 83- 92 ,(2008) , 10.1007/978-3-540-88513-9_10
J. D. Turner, On the Simulation of Discontinuous Functions Journal of Applied Mechanics. ,vol. 68, pp. 751- 757 ,(2001) , 10.1115/1.1387022
MIOMIR VUKOBRATOVIĆ, BRANISLAV BOROVAC, MIRKO RAKOVIĆ, VELJKO POTKONJAK, MOMČILO MILINOVIĆ, ON SOME ASPECTS OF HUMANOID ROBOTS GAIT SYNTHESIS AND CONTROL AT SMALL DISTURBANCES International Journal of Humanoid Robotics. ,vol. 05, pp. 119- 156 ,(2008) , 10.1142/S0219843608001339
Federico Lorenzo Moro, Nikos G Tsagarakis, Darwin G Caldwell, On the Kinematic Motion Primitives (kMPs) - Theory and Application Frontiers in Neurorobotics. ,vol. 6, pp. 10- 10 ,(2012) , 10.3389/FNBOT.2012.00010
Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Young J. Kim, Dinesh Manocha, Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box international conference on robotics and automation. pp. 977- 982 ,(2012) , 10.1109/ICRA.2012.6224555
BRANISLAV BOROVAC, MILUTIN NIKOLIĆ, MIRKO RAKOVIĆ, HOW TO COMPENSATE FOR THE DISTURBANCES THAT JEOPARDIZE DYNAMIC BALANCE OF A HUMANOID ROBOT International Journal of Humanoid Robotics. ,vol. 08, pp. 533- 578 ,(2011) , 10.1142/S0219843611002551