【摘 要】
：
An online human-simulated pattern planner of humanoid robot considering full-body dynamics is proposed.With motion captured from videos,General Preview Cont
【机 构】
：
SchoolofMechanicalandAerospaceEngineering,NanyangTechnologicalUniversity,Singapore,639798SchoolofMec
【出 处】
：
The 5th International Conference of Bionic Engineering 第五届国际
论文部分内容阅读
An online human-simulated pattern planner of humanoid robot considering full-body dynamics is proposed.With motion captured from videos,General Preview Control is used to plan the translational and rotational motions and Resolved Momentum Control is used to realize the(angular)momentums.To integrate the vertical motion intrinsically,a constraint is added to the full equation of ZMP and this results in a model consisting of Centroidal Angular Momentum plus extended Cart-Table Model,which is proposed in our preceding paper.The General Preview Control is implemented to this model with ZMP and Centroidal Angular Momentum as reference output.Tracking errors of ZMP and Centroidal Angular Momentum can be compromised depending on whichever of stability and momentum to be priority.This can be dong easily by manipulating preview control gains.The merits of the method are: 1)the human-like motions which are physically feasible can be easily realized,2)angular momentum,which is considered important to enhancing the dynamic balance,is considered in motion planning,3)full-body dynamics is considered distributing motion to whole body,4)vertical motion is incorporated intrinsically,5)the stability can be enhanced by manipulating angular momentum and vice versa.The desired trajectories of Center of Mass(CoM)and Centroidal Angular Momentum are realized by implementing Resolved Momentum Control.The simulated Atlas robot is used to validate the effectiveness and advantages of the proposed method.
其他文献
目的：种子萌发是棉花生长过程中的关键阶段,是衡量棉花抗旱性强弱的重要时期,转录因子在植物抗逆过程中发挥着重要的调控作用,了解转录因子在萌发期干旱胁迫下的表达为深
In engineering application,attachment of two(or more)dissimilar materials with very different mechanical properties is always a fundamental challenge.An abr
Mitogen-activated protein kinases(MAPKs)are significant components of MAPK cascades,which are signaling systems that play pivotal roles in signal transducti
Arterial stiffening occurs as part of the natural ageing process,and is thought to be related to the changes in the extracellular matrix,namely accumulation
Insect legs have attracted broad attention due to their complexity and critical functions including crawling,jumping,capturing,excavating and even perceivin
Sedum alfredii Hance,a Cd/Zn/Pb co-hyperaccumulating species of Crassulaceae was first found in China,is considered to be as a promising phytoremediation ca
Corn is one of the most important crops in the world.The mass of corn stubble is a potential huge resource because of its great percentage in the whole corn
The combination of energy shortage and climate change is one of the most complex challenges the world,as a whole,has had to face.The next 50 years is a vita
The ostrich is the fastest biped animal in the existing creature.On the sand environment,ostriches can run with an spectacular speed and endurance.The ostri
The male bovines generally have huge hones.Hones are their weapons to compete for territory,hunt for food and get the opportunity to mate with the females.A