Robots designed to operate in everyday domains have to move in environments designed for the humans. Therefore, they will often have a humanoid kinematic structure. Simple and efficient kinematic models are needed for motion control of this class of robots. An algorithm is presented to solve the inverse kinematics problem in the presence of a number of control points arbitrarily located on the whole robot body, using an augmented Jacobian approach and including posture control. Simulation experiments are reported, showing the effectiveness of the proposed approach.

Multiple-point kinematic control of a humanoid robot

DE SANTIS, AGOSTINO;DI GIRONIMO, GIUSEPPE;SICILIANO, BRUNO;TARALLO, ANDREA
2010

Abstract

Robots designed to operate in everyday domains have to move in environments designed for the humans. Therefore, they will often have a humanoid kinematic structure. Simple and efficient kinematic models are needed for motion control of this class of robots. An algorithm is presented to solve the inverse kinematics problem in the presence of a number of control points arbitrarily located on the whole robot body, using an augmented Jacobian approach and including posture control. Simulation experiments are reported, showing the effectiveness of the proposed approach.
9789048192618
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11588/374520
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