Synthesis of humanoid whole-body motion with smooth transition
| Autor: | Yoji Uno, Takahiro Kagawa, ChangHyun Sung |
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| Rok vydání: | 2015 |
| Předmět: |
Collision avoidance (spacecraft)
Transition (fiction) ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Motion (geometry) Motion synthesis Computer Science Applications Computer Science::Robotics Human-Computer Interaction Task (computing) Hardware and Architecture Control and Systems Engineering Control theory Motion estimation Robot Software Humanoid robot ComputingMethodologies_COMPUTERGRAPHICS Mathematics |
| Zdroj: | Advanced Robotics. 29:573-585 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | In planning specific sequential motions of a humanoid, it is desired to transfer from one motion to another motion without stopping between motions. The problem of achieving continuous performance by connecting motions is referred to as motion synthesis in the robotic fields. To solve this problem, it is important to assign an appropriate transition motion that connects a prior motion to a posterior motion. In this research, we propose a new method of generating smooth transition motions under various constraints such as maintaining balance and collision avoidance. Our algorithm comprises two sequential processes based on optimization techniques. First, we assign transition instants of the motions with the formulation of a minimax problem. Second, we connect the transition instants smoothly to satisfy various constraints throughout the transition. Our method is applied to synthesize the walking and kicking motions of the humanoid robot HOAP-3. We confirm that the robot achieves a given task by connecting ... |
| Databáze: | OpenAIRE |
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