Synthesis of Complex Humanoid Whole-Body Behavior: a Focus on Sequencing and Tasks TransitionsReportar como inadecuado




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* Corresponding author 1 ISIR - Institut des Systèmes Intelligents et de Robotique

Abstract : We present a novel approach to deal with transitions while performing a sequence of dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks cannot be ensured, so we use a strategy based on weights to represent their relative importance. The robot interacts with a changing environment, and the input torques are different depending on whether the robot performs tasks in a constrained state e.g. in contact or not. We develop a solution with smooth weights variations and transitional tasks which avoids sharp torque evolutions. In order to validate this approach, simulations are carried out on a virtual iCub robot which is assigned the realization of a complex mission involving various changing tasks.

Keywords : Humanoid Robots Robust-Adaptive Control of Robotic Systems Whole-Body control Dynamics





Autor: Joseph Salini - Vincent Padois - Philippe Bidaud -

Fuente: https://hal.archives-ouvertes.fr/



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