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Real-time whole-body motion generation using torso posture regression and center of mass
http://hdl.handle.net/10098/00028514
http://hdl.handle.net/10098/00028514bb91ce49-6838-43d3-96a5-c198648bdcdb
名前 / ファイル | ライセンス | アクション |
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bd10125758 (2.7 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2020-10-09 | |||||
タイトル | ||||||
タイトル | Real-time whole-body motion generation using torso posture regression and center of mass | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Real-time whole-body motion generation using torso posture regression and center of mass | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Coordinated movement | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Whole-body motion | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Humanoid robot | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Visual feedback | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_1843 | |||||
資源タイプ | other | |||||
著者 |
Tsuichihara, Satoki
× Tsuichihara, Satoki× Hakamata, Yuya× Garcia Ricardez, Gustavo Alfonso× Takamatsu, Jun× Ogasawara, Tsukasa |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | For household humanoid robots, reaching as much workspace as possible with their hands is an important issue because the locations of target objects may range from the floor to above the robot’s head. At the same time, to adapt to the constantly-changing household environment, inverse kinematics for the whole body must be solved in real time. In this paper, to achieve real-time motion generation for a humanoid robot, we propose a method of separating the inverse kinematics calculation into simpler problems. Using regression to estimate the torso orientation, we independently solve inverse kinematics for the lower body and both arms. First, using the target pose of both hands as input, we calculate the orientation of the torso and determine the target position of the center of mass considering the reachability of both arms. At each control step, we calculate the joint angles of the lower body from the position of the center of mass, feet poses, and torso orientation. Then, we calculate the joint angles of both arms. In experiments, we apply the proposed method to a human-size humanoid robot for reaching low-height positions while hunkering down. The proposed inverse kinematics solver is ten times faster than the numerical solution using the Jacobian matrix. We also verify the applicability of the proposed method using a sequence of random target positions for the hands as input. | |||||
書誌情報 |
en : ROBOMECH Journal 巻 5, 号 1, p. 1-13, 発行日 2018-04-27 |
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出版者 | ||||||
出版者 | JSME Robotics and Mechatronics Division | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 2197-4225 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1186/s40648-018-0105-y | |||||
権利 | ||||||
権利情報 | copyright 2018 the Authors | |||||
著者版フラグ | ||||||
出版タイプ | AO | |||||
出版タイプResource | http://purl.org/coar/version/c_b1a7d7d4d402bcce | |||||
その他のID | ||||||
TD10125758 |