Preview Control applied for humanoid robot motion generation

Maksymilian Szumowski , Magdalena Żurawska , Teresa Zielińska

Abstract

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
Author Maksymilian Szumowski (FPAE / IAAM)
Maksymilian Szumowski,,
- The Institute of Aeronautics and Applied Mechanics
, Magdalena Żurawska (FPAE / IAAM)
Magdalena Żurawska,,
- The Institute of Aeronautics and Applied Mechanics
, Teresa Zielińska (FPAE / IAAM)
Teresa Zielińska,,
- The Institute of Aeronautics and Applied Mechanics
Journal seriesArchives of Control Sciences, ISSN 1230-2384, e-ISSN 2300-2611, (B 15 pkt)
Issue year2019
Vol29
No1
Pages111-132
Publication size in sheets1.05
Keywords in EnglishMotion generation, humanoid robot, Preview Control, Extended Cart-Table model, off-line method
ASJC Classification2606 Control and Optimization; 2611 Modelling and Simulation; 2207 Control and Systems Engineering
DOIDOI:10.24425/acs.2019.127526
URL http://journals.pan.pl/dlibra/publication/127526/edition/111271/content
Languageen angielski
Score (nominal)15
ScoreMinisterial score = 15.0, 18-06-2019, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2016 = 0.565; WoS Impact Factor: 2017 = 1.545 (2)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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