Stretched knee walking with novel inverse kinematics for humanoid robots

Przemyslaw Kryczka, Kenji Hashimoto, Hideki Kondo, Aiman Omer, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

10 引用 (Scopus)

抜粋

A four degrees of freedom (DoF) waist and trunk mechanism, as well as human-like foot, enable the humanoid robot WABIAN-2R to perform human-like walk with stretched knees, and heel-contact and toe-off gait phases. The inverse kinematics (IK) method, used in the present system, requires specification of not only task space reference trajectories, but also reference trajectories for all redundant DoFs. In this paper, we propose a novel, unified inverse kinematics method significantly simplifying the pattern generation. The method enables generation of the above described gait by specifying only the task space trajectories. We divide the forward locomotion task into subtasks with different priorities and combine them in the single IK equation. We also perform experiments in simulation environment as well as on WABIAN-2R, which prove that the method can be used to calculate IK for human-like gait. The equation evaluated in this paper is applied to the forward locomotion task, however it can be easily modified to perform other tasks on humanoid robots with different kinematic structures.

元の言語English
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ3221-3226
ページ数6
DOI
出版物ステータスPublished - 2011 12 29
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
継続期間: 2011 9 252011 9 30

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
United States
San Francisco, CA
期間11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • これを引用

    Kryczka, P., Hashimoto, K., Kondo, H., Omer, A., Lim, H. O., & Takanishi, A. (2011). Stretched knee walking with novel inverse kinematics for humanoid robots. : IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 3221-3226). [6048815] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048815