Inverse Kinematics for Center of Mass through Iteration
文献类型：会议论文
| 作者 | WANG Fan; ZHANG Zhongkai; OU Yongsheng |
| 出版日期 | 2013 |
| 会议名称 | 32nd Chinese Control Conference, CCC 2013 |
| 会议地点 | Xi'an, China |
| 英文摘要 | In various humanoid robot research areas such as biped walking and balance maintenance, control of Center of Mass (COM) is frequently used. However, it becomes a complex problem to directly control the COM for a high degree of freedom humanoid robot, especially in case of double feet support. In this paper, an iterative method that is easy to implement is proposed. Based on the approximated assumption that COM is fixed in local coordinate system, the control angle of the robot leg can be solved to drive the COM toward the target position. This process can be iterated to achieve high precision. At last it is shown to be efficient and precise by simulation tests on a NAO humanoid robot. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4613]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2013 |
| 推荐引用方式 GB/T 7714 | WANG Fan,ZHANG Zhongkai,OU Yongsheng. Inverse Kinematics for Center of Mass through Iteration[C]. 见:32nd Chinese Control Conference, CCC 2013. Xi'an, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。