Name
Abstract | ||
|---|---|---|
This paper considers the problem of identifying the control torques associated with the generation of complex movements in an anthropomorphic system. We present a generic motion generation scheme for humanoid robots. Then we use the torques estimated from human motion capture and force sensor measurements, to compare with similar movements simulated on a humanoid robot. The general features of movement during a sequence of reaching tasks are analyzed. In particular we compare kinematics-based and dynamics-based movements. Finally, the variation of torques at the different joints are compared and discussed. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.3182/20120905-3-HR-2030.00177 | IFAC Proceedings Volumes |
Keywords | Field | DocType |
Torque control,anthropomorphic system,whole-body dynamics,quadratic programming,tasks-function,operational-space control | Force sensor,Torque,Kinematics,Control theory,Motion generation,Human motion,Control engineering,Quadratic programming,Engineering,Operational space control,Humanoid robot | Conference |
Volume | Issue | ISSN |
45 | 22 | 1474-6670 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Layale Saab | 1 | 19 | 1.55 |
| Nicolas Mansard | 2 | 490 | 39.67 |
| Philippe Souères | 3 | 323 | 43.63 |
| Jean-Yves Fourquet | 4 | 47 | 7.16 |
| Manish N. Sreenivasa | 5 | 23 | 6.65 |
| Yoshihiko Nakamura | 6 | 1787 | 190.92 |