PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Controlling humanoid robots in topology coordinates.
E. Ho, T. Komura, Subramanian Ramamoorthy and Sethu Vijayakumar
In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2010).


This paper presents an approach to the control of humanoid robot motion, e.g., holding another robot or tangled interactions involving multiple limbs, in a space defined by `topology coordinates'. The constraints of tangling can be linearized at every frame of motion synthesis, and can be used together with constraints such as defined by the Zero Moment Point, Center of Mass, inverse kinematics and angular momentum for computing the postures by a linear programming procedure. We demonstrate the utility of this approach using the simulator for the Nao humanoid robot. We show that this approach enables us to synthesize complex motion, such as tangling, very efficiently.

EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
Theory & Algorithms
ID Code:7615
Deposited By:Subramanian Ramamoorthy
Deposited On:17 March 2011