Preview Control applied for humanoid robot motion generation
Maksymilian Szumowski , Magdalena Żurawska , Teresa Zielińska
AbstractThis 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.
|Journal series||Archives of Control Sciences, ISSN 1230-2384, e-ISSN 2300-2611, (B 15 pkt)|
|Publication size in sheets||1.05|
|Keywords in English||Motion generation, humanoid robot, Preview Control, Extended Cart-Table model, off-line method|
|ASJC Classification||; ;|
|Score||= 15.0, 18-06-2019, ArticleFromJournal|
|Publication indicators||= 0; : 2016 = 0.565; : 2017 = 1.545 (2)|
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