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Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques

Mikołajczyk Kacper, Szumowski Maksymilian, Woliński Łukasz

Archive of Mechanical Engineering

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2022

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LXIX, nr 3

393--409

EN

A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The description of motion in the frame associated with the supporting foot allows one to represent the robot as a composite of several serial open-loop redundant manipulators. Stability during the motion is provided by the trajectory of the robot’s center of mass which ensures that the zero moment point criterion is fulfilled. Inverse kinematics solution is performed offline using the redundancy resolution at the velocity level. The proposed method utilizes robot’s redundancy to fulfill joint position limits and to reduce gravity-related joint torques. The method have been tested in simulations and experiments on a humanoid robot Melson, and results are presented.

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Humanoid robot path planning using rapidly explored random tree and motion primitives

Szumowski Maksymilian, Zielinska Teresa

Journal of Automation Mobile Robotics and Intelligent Systems

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2021

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Vol. 15, No. 1

24--30

EN

Path planning is an essential function of the control sy‐ stem of any mobile robot. In this article the path planner for a humanoid robot is presented. The short description of an universal control framework and the Motion Ge‐ neration System is also presented. Described path plan‐ ner utilizes a limited number of motions called the Mo‐ tion Primitives. They are generated by Motion Generation System. Four different algorithms, namely the: Informed RRT, Informed RRT with random bias, and RRT with A* like heuristics were tested. For the last one the version with biased random function was also considered. All menti‐ oned algorithms were evaluated considering three diffe‐ rent scenarios. Obtained results are described and discus‐ sed.

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Preview Control applied for humanoid robot motion generation

Szumowski Maksymilian, Żurawska Magdalena Sylwia, Zielińska Teresa

Archives of Control Sciences

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2019

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Vol. 29, No. 1

111--132

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.