Robots designed to operate in everyday domains have to move in environments designed for the humans. Therefore, they will often have a humanoid kinematic structure. Simple and efficient kinematic models are needed for motion control of this class of robots. An algorithm is presented to solve the inverse kinematics problem in the presence of a number of control points arbitrarily located on the whole robot body, using an augmented Jacobian approach and including posture control. Simulation experiments are reported, showing the effectiveness of the proposed approach.
Multiple-point kinematic control of a humanoid robot / DE SANTIS, Agostino; DI GIRONIMO, Giuseppe; Pelliccia, L.; Siciliano, Bruno; Tarallo, Andrea. - STAMPA. - (2010), pp. 157-168. (Intervento presentato al convegno 12th International Symposium on Advances in Robot Kinematics tenutosi a Portorož, Slovenia nel 29 June 2010).
Multiple-point kinematic control of a humanoid robot
DE SANTIS, AGOSTINO;DI GIRONIMO, GIUSEPPE;SICILIANO, BRUNO;TARALLO, ANDREA
2010
Abstract
Robots designed to operate in everyday domains have to move in environments designed for the humans. Therefore, they will often have a humanoid kinematic structure. Simple and efficient kinematic models are needed for motion control of this class of robots. An algorithm is presented to solve the inverse kinematics problem in the presence of a number of control points arbitrarily located on the whole robot body, using an augmented Jacobian approach and including posture control. Simulation experiments are reported, showing the effectiveness of the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
