Advertisement

Coordinated Task Execution for Humanoid Robots

  • T. Asfour
  • D.N. Ly
  • K. Regenstein
  • R. Dillmann
VII. Humanoids
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • T. Asfour
    • 1
  • D.N. Ly
    • 1
  • K. Regenstein
    • 1
  • R. Dillmann
    • 1
  1. 1.Forschungszentrum Informatik Karlsruhe (FZI) Haid-und-Neu-Str. 10-14, D-76131 KarlsruheGermany

Personalised recommendations