Coordinated Task Execution for Humanoid Robots
نویسندگان
چکیده
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimentally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.
منابع مشابه
Elastic Strips: A Framework for Motion Generation in Human Environments
Robotic applications are expanding into dynamic, unstructured, and populated environments. Mechanisms specifically designed to address the challenges arising in these environments, such as humanoid robots, exhibit high kinematic complexity. This creates the need for new algorithmic approaches to motion generation, capable of performing task execution and real-time obstacle avoidance in highdime...
متن کاملPSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety
In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...
متن کاملCooperation of Humanoid Robots using Teleoperation for Transferring an Object
In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore,...
متن کاملReactive Task Planner Synthesis of Multi-Contact Dynamic Locomotion in Constrained Environments
Contact-based decision and planning methods are increasingly being sought for task execution in humanoid robots. Formal methods for verification and synthesis have not been yet incorporated into the motion planning sequence to generate complex mobility behaviors in legged humanoid robots. This study takes a step toward formally synthesizing a high-level reactive task planner for unified legged ...
متن کاملDesign of Programmable Passive Compliance Shoulder Mechanism
Design of mechanical compliance would be one of the most important technical foci in making humanoid robots really interactive with the humans. For safety insurance the mechanical compliance should be developed to humanoid robots. The introduction of the passive compliance to humanoid robots has large possibility to achieve the human skill by using the dynamical energy stored in the compliant m...
متن کامل