Preview Control applied for humanoid robot motion generation

• Autorzy: Szumowski Maksymilian , Żurawska Magdalena Sylwia , Zielińska Teresa

Identyfikatory

DOI

10.24425/acs.2019.127526

• Języki publikacji: EN

Abstrakty

EN

This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.

Słowa kluczowe

EN

motion generation; humanoid robot; Preview Control; Extended Cart-Table model; off-line method

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2019
• Tom: Vol. 29, No. 1
• Strony: 111--132
• Opis fizyczny: Bibliogr. 20 poz., rys., tab., wykr., wzory

Twórcy

autor

Szumowski Maksymilian

• Warsaw University of Technology, The Faculty of Power and Aeronautical Engineering, Warsaw, Nowowiejska 24 Str, Poland

autor

Żurawska Magdalena Sylwia

• Warsaw University of Technology, The Faculty of Power and Aeronautical Engineering, Warsaw, Nowowiejska 24 Str, Poland

autor

Zielińska Teresa

• Warsaw University of Technology, The Faculty of Power and Aeronautical Engineering, Warsaw, Nowowiejska 24 Str, Poland

Bibliografia

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Uwagi

EN

1. This work was supported by "Diamond Grant” founded by Polish Ministry of Science and Higher Education (no 0072/DIA/2014/43), Development and testing of a method for dynamic gait synthesis with the use of a new-design robot.

PL

2. Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).