Humanoid robot upper body motion generation using B-spline-based functions

Abstract

SUMMARYThis paper aims to represent a human's upper body motion using a humanoid robot. As a robot has different physical limitations than a human, we present a method that can filter the trajectories to meet the limitations. The filtering can be used directly and also can be used as a constraint for optimization. It will be shown to be applicable both offline and online. Many physical attributes, namely angle, collision, velocity, and dynamic torque, are represented as B-spline explicit functions. The B-spline coefficients are then calculated to limit the physical attributes. This explicit method can guarantee that many limits are met. Hence, it is better than many methods that only reduce such physical attributes using objective functions.

Human to humanoid motion conversion for dual-arm manipulation tasks

“…In other cases, collision avoidance could be included in the generation of humanoid motion using the techniques developed in [31][32][33]. The vision-based path planning method for dual-arm end-effector features proposed by Qu et al [34] is also a useful tool for precise pose alignment of two objects, which is the position and orientation of the hands and equipment in our case.…”

Zhang equivalency of inequation-to-inequation type for constraints of redundant manipulators

“…Valtazanos et al firstly presented an approach for the control of multi-robot subject to constraints physically [24] . In [25] , Ruchanurucks presented a filtering method to optimize the trajectories of a humanoid robot with physical limitations. In addition, researchers have presented their intelligence systems for real-time solutions to the modeling planning problem of RMs with physical constraints [26] , [27] .…”

Kinematic, Workspace and Static Analysis of a Upper Body Humanoid Robot

“…Straight Knee walking pattern is not achieved by using this method. Petar et al [4] depicted a method to control the upper and lower body of the robot by using [7]. The B-spline coefficients are calculated to limit the physical attributes.…”