Name
Abstract | ||
|---|---|---|
This paper presents a method to optimize and filter trajectories generated from recorded human motion for a humanoid robot with physical limits. The objective function is responsible for mimicking human trainers, enhancing the possibility for fast convergence, while constraints are used to transform motion within the limit of the capabilities of the humanoid robot. Those constraints for angle, velocity, and dynamic force are represented as B-spline coefficients. An iterative soft-constraint paradigm is proposed to enhance the quality of velocity and force constraints. Collision avoidance is also considered as a constraint. For precision refinement, in regions of high-frequency motion not adequately modeled by an initial splining, B-spline is extensible into a hierarchy so that optimization that meets global criteria can be performed locally. Furthermore, all of the constraints can be used solely as filtering. To use these filters, an effective method to directly decompose a trajectory to a B-spline is also presented. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1642101 | 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 |
Keywords | Field | DocType |
humanoid robot motion generation, trajectory optimization, hierarchical B-spline, robot physical constraints | Convergence (routing),Iterative method,Control theory,Filter (signal processing),Collision,Control engineering,Mathematics,Trajectory,Mobile robot,Force dynamics,Humanoid robot | Conference |
Volume | Issue | ISSN |
2006 | 1 | 1050-4729 |
Citations | PageRank | References |
11 | 0.87 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Miti Ruchanurucks | 1 | 42 | 5.40 |
| Shinichiro Nakaoka | 2 | 461 | 32.58 |
| Shunsuke Kudoh | 3 | 145 | 22.87 |
| Katsushi Ikeuchi | 4 | 4651 | 881.49 |