Optimization of impact motions for humanoid robots considering multibody dynamics and stability

Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    In order to exert large force on an environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." The objective of an impact motion is to exert large force on an environment, however if the impulsive force is too large, the robot may fall down due to the reaction force. This paper presents an optimization scheme to generate impact motions for humanoid robots. The advantage of the proposed scheme is that impulsive force exerted on a target by a humanoid robot's whole body is maximized while guaranteeing the stability. A punching motion is generated by the scheme as an example and evaluated by performing simulations.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages718-725
    Number of pages8
    DOIs
    Publication statusPublished - 2010 Dec 1
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 2010 Oct 182010 Oct 22

    Publication series

    NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CountryTaiwan, Province of China
    CityTaipei
    Period10/10/1810/10/22

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

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  • Cite this

    Tsujita, T., Konno, A., & Uchiyama, M. (2010). Optimization of impact motions for humanoid robots considering multibody dynamics and stability. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 718-725). [5648966] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5648966