Controlling Humanoid Robots in Topology Coordinates

Ho, E.S.L. , Komura, T., Ramamoorthy, S. and Vijayakumar, S. (2010) Controlling Humanoid Robots in Topology Coordinates. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October 2010, pp. 178-182. ISBN 9781424466764 (doi: 10.1109/IROS.2010.5652787)

Abstract

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.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Ho, Dr Edmond S. L
• Authors: Ho, E.S.L., Komura, T., Ramamoorthy, S., and Vijayakumar, S.
• College/School: College of Science and Engineering > School of Computing Science
• ISSN: 2153-0866
• ISBN: 9781424466764