Teaching and Programing for Robots. Realtime Balance Compensation for Dynamic Motion of Full-Body Humanoid Standing on One Leg.

• Tamiya Yukiharu

  Graduate School of Engineering, The University of Tokyo

• Inaba Masayuki

  Graduate School of Engineering, The University of Tokyo

• Inoue Hirochika

  Graduate School of Engineering, The University of Tokyo

Bibliographic Information

Other Title

• 作業の教示とプログラミング　　人間型ロボットの片足立脚動作における全身を用いた実時間動バランス補償
• ニンゲンガタ ロボット ノ カタアシ リッキャク ドウサ ニ オケル ゼンシン オ モチイタ ジツジカンドウ バランス ホショウ

Abstract

We have developed a balance compansating method for dynamic motions of a full-body humanoid standing on one leg. This method could compensate tri-axial moments in any motions, using all joints of body in real-time. In this method, costraint conditions for stable motion were calculated by using physical 3D model of the robot, and the output motion was determined by solving an optimization problem so that the output should be closest to the input under the constraints. The proposed method had high generality because of independence of joints arrangement of robot. This paper describes the algorithm of the method and an experiments applied on the 16D. O. F. humanoid in kick motion.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 17 (2), 268-274, 1999

  The Robotics Society of Japan

Keywords

• Balance Compensation
• Humanoid
• Standing on One Leg
• Dynamic Motion
• Optimization

Details

• CRID: 1390282679703446912
• NII Article ID: 10002865738
• NII Article ID: 10004729974
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.17.268
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4679161
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4679161
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed