Name
Title | ||
|---|---|---|
Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions |
Abstract | ||
|---|---|---|
We present a novel approach to deal with transitions while performing a sequence of dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks cannot be ensured, so we use a strategy based on weights to represent their relative importance. The robot interacts with a changing environment, and the input torques are different depending on whether the robot performs tasks in a constrained state (e.g. in contact) or not. We develop a solution with smooth weights variations and transitional tasks which avoids sharp torque evolutions. In order to validate this approach, simulations are carried out on a virtual iCub robot which is assigned the realization of a complex mission involving various changing tasks. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5980202 | Robotics and Automation |
Keywords | Field | DocType |
control engineering computing,humanoid robots,robot dynamics,torque control,virtual reality,complex humanoid whole-body behavior,constrained state,dynamic tasks,humanoid robot,sequencing transitions,sharp torque evolutions,smooth weights variations,tasks transitions,transitional tasks,virtual iCub robot | iCub,Torque,Virtual reality,Control theory,Simulation,Control engineering,Acceleration,Engineering,Robot,Humanoid robot | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 37 | 1.46 |
References | Authors | |
16 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joseph Salini | 1 | 38 | 1.82 |
| vincent padois | 2 | 168 | 15.26 |
| Philippe Bidaud | 3 | 207 | 21.09 |