Abstract
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimentally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Asfour, T., Ly, D., Regenstein, K., Dillmann, R. (2006). Coordinated Task Execution for Humanoid Robots. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_25
Download citation
DOI: https://doi.org/10.1007/11552246_25
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
eBook Packages: EngineeringEngineering (R0)