Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks

Satoki Tsuichihara, Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

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

2 Citations (Scopus)

Abstract

With an an aging society, service robots are expected to help elderly people with self-support. Service robots working in daily live must handle modifications of the environment, which naturally happens and still finish tasks quickly to satisfy people. In this research, we described a dual arm inverse kinematics with visual feedback mechanism. We solve the issue in a certain quickness using a weighted pseudo inverse matrix and pipeline calculation originated from OpenRTM. The weight helps the stability in standing, while not paying much calculation time. We verified the effectiveness of the proposed method by evaluating stability from divergence of the ZMP.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages333-338
Number of pages6
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 2015 Jan 1
Externally publishedYes
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
Duration: 2015 Dec 62015 Dec 9

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Other

OtherIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
CountryChina
CityZhuhai
Period15/12/615/12/9

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

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