Open document
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General information |
| Author |
Kim, Inhyeok; Oh, Jun-Ho |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
We propose an inverse kinematic control
framework for a position controlled humanoid robot with
bounded joint range, velocity, and acceleration limits. The
proposed framework comprises two components, an
inverse kinematics algorithm and a damping controller.
The proposed IKTC (Inverse Kinematics with Task
Corrections) algorithm is based on the second order taskpriority
method in order to ensure the velocity‐continuity
of the solution. When the minimum norm solution
exceeds the joint bounds, the problem is treated as a
quadratic optimization problem with box constraints; an
optimal task correction that lets the solution satisfy the
constraints is found. In order to express the three kinds of
joint constraints as a second order box constraint, a novel
method is also proposed. The joint stiffness of a position
controlled humanoid robot necessitates a damping
controller to attenuate jolts caused by repeated contacts.
We design a damping controller by using an inverted
pendulum model with a compliant joint that takes into
account the compliance around the foot. By using ZMP
[20] measurement, the proposed damping controller is
applicable not only in SSP (Single Support Phase) but also
in DSP (Double Support Phase). The validity of the
proposed methods is shown by imitating a captured
whole‐body human motion with a position controlled
humanoid robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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