Whole-Body Dynamic Behavior and Control of Human-Like Robots

Topics:
Electrical and Electronic
Tags:
Emerging Technologies,
Formulation,
Robots,
Space Formulation,
World Scientific Publishing
Source:
World Scientific Publishing

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Overview: With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. The hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multiple-task control framework. The operational space formulation provides dynamic models at the task level and structures for decoupled task and posture control. This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task.

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Format: PDF | Size: 599KB | Date: Dec 2003 | Pages: 15

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