Definition of Postural Schemes for Humanoid Robots
Each of the positions to be adopted by a humanoid robot to make a particular movement can be considered as a postural scheme associated with that particular movement. For example, if we want the robot to complete a given step sequence, the robot should increase or decrease the positions of its links to arrive at the desired position, whilst maintaining its stability. Other possible examples of movement execution are sideways movement, walking upstairs, etc. In this paper, we propose a method for defining postural schemes that guarantee stability in all the intermediate positions of the movements. This method is based on the direct kinematics of the robot.
KeywordsHumanoid Robot Inverse Kinematic Biped Robot Zero Moment Point Roll Axis
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