Rh-0 humanoid full size robot's control strategy based on the lie logic technique

Arbulú, Mario; Pardos, J.M.; Cabas, L.; Staroverov, Pavel; Kaynov, Dmitry; Pérez, Carlos; Rodríguez, Marcos; Balaguer, Carlos

doi:10.1109/ichr.2005.1573579

Cited by 6 publications

(2 citation statements)

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“…2): (i) the ZMP-previous control [19] that will be adjusted to our problem for dynamic stable transition, (ii) the kinematics and dynamics modelling under Lie groups, (iii) Paden-Kahan sub-problems and screw theory [15], [16], [21]. Those theories allow us to compute the inverse kinematics directly without internal singularities and dynamics modelling, [22] by Jacobian manipulator.…”

Section: Overview Of the Methodsmentioning

confidence: 99%

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Dynamic acyclic motion from a planar contact-stance to another

Arbulú

Yokoi

Kheddar

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

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Section: Overview Of the Methodsmentioning

confidence: 99%

“…The dynamic stability while walking is obtained by ZMP preview control [11], [12], [13], [14]; whole-body motion is developed by the generalized inverse kinematics under the Jacobian method. We propose an approach by solving the whole-body motion in a direct and natural way by making use of Lie groups under the screw theory [15], [16].…”

Section: Introductionmentioning

confidence: 99%