Name
Abstract | ||
|---|---|---|
This paper aims to represent a human's upper body motion using a humanoid robot. As a robot has different physical limitations than a human, we present a method that can filter the trajectories to meet the limitations. The filtering can be used directly and also can be used as a constraint for optimization. It will be shown to be applicable both offline and online. Many physical attributes, namely angle, collision, velocity, and dynamic torque, are represented as B-spline explicit functions. The B-spline coefficients are then calculated to limit the physical attributes. This explicit method can guarantee that many limits are met. Hence, it is better than many methods that only reduce such physical attributes using objective functions. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1017/S0263574714000496 | ROBOTICA |
Keywords | Field | DocType |
B-spline,Motion generation,Robot dynamics,Robot kinematics | B-spline,Robot control,Inverse kinematics,Robot calibration,Control theory,Robot kinematics,Engineering,Cartesian coordinate robot,Articulated robot,Humanoid robot | Journal |
Volume | Issue | ISSN |
33 | 4 | 0263-5747 |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
1 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Miti Ruchanurucks | 1 | 42 | 5.40 |