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

Teppei Tsujita, Atsushi Konno, Masaru Uchiyama

    研究成果: Conference contribution

    3 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    ページ718-725
    ページ数8
    DOI
    出版ステータスPublished - 2010 12月 1
    イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    継続期間: 2010 10月 182010 10月 22

    出版物シリーズ

    名前IEEE/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
    国/地域Taiwan, Province of China
    CityTaipei
    Period10/10/1810/10/22

    ASJC Scopus subject areas

    • 人工知能
    • 人間とコンピュータの相互作用
    • 制御およびシステム工学

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