Biped Locomotion of a 21-DOF Humanoid Robot for Application in Real Environment
نویسندگان
چکیده
منابع مشابه
Trajectory Generation in Groping Locomotion of a 21-dof Humanoid Robot
The formulation and optimization of joint trajectories for a humanoid robot’s manipulator is quite different from standard robots’ because of the complexity of its kinematics and dynamics. This paper presents a formulation to solve kinematics problems to generate trajectory for a 21-DOF humanoid robot in the groping-locomotion method. The groping-locomotion method includes a basic autonomous in...
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We have developed a humanoid robot HRP-1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for so...
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The study on biped locomotion in humanoid robots has gained great interest since the last decades (Hirai et. al. 1998, Hirukawa et. al., 2004, Ishiguro, 2007). This interest are motivated from the high level of mobility, and the high number of degrees of freedom allow this kind of mobile robot adapt and move upon very unstructured sloped terrain. Eventually, it is more desirable to have robots ...
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ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2012
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2012.07.351