Generating Complex Movements of Humanoid Robots by Using Primitives
The objective of this work is to demonstrate the possibility of using primitives to generate complex movements that ensure motion of bipedal humanoid robots. Primitives represent simple movements that are either reflex or learned. Each primitive has its parameters and constraints that are determined on the basis of the movements capable of performing by a human. The set of all primitives represents the base from which primitives are selected and combined for the purpose of performing the corresponding complex movement. The proof that a correct selection of primitives is made and that the movement is the appropriate one is obtained on the basis of the maintainance of dynamic balance, which is realized by monitoring the ZMP position, as well as based on the pattern of the very movement.
Keywordshumanoid pattern generation dynamic balance ZMP primitives
Unable to display preview. Download preview PDF.
- 2.Vukobratović, M.: Legged Locomotion Systems and Anthropomorphic Mechanisms, Mihajlo Pupin Institute, Belgrade (1975), also published in Japanese, Nikkan Shimbun Ltd. Tokyo, MIR, Moscow (1976) (in Russian), Beijing (1983) (in Chinese)Google Scholar
- 7.Vukobratović, M., Borovac, B., Potkonjak, V., Jovanović, M.: Dynamic Balance of Humanoid Systems in Regular and Irregular Gaits: an Expanded Interpretation. Intl. Journal of Humanoid Robotics 6(1) (in press, 2009) Google Scholar
- 8.Vukobratović, M., Borovac, B., Raković, M.: Comparison of PID and Fuzzy Logic Controllers in Humanoid Robot Control of Small Disturbances. In: Eurobot Conference 2008, pp. 69–79. Matfyz Press, Heidelberg (2008)Google Scholar
- 11.Zhang, L., Bi, S., Liu, D.: Dynamic Leg Motion Generation of Humanoid Robot Based on Human Motion Capture. In: Proceedings of the First International Conference on Intelligent Robotics and Applications Part I, pp. 83–92. Springer, Heidelberg (2008)Google Scholar
- 12.Denk, J., Schmidt, G.: Synthesis of walking primitive databases for biped robots in 3D-environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, vol. 1, pp. 1343–1349 (2003)Google Scholar
- 13.Nakaoka, S., Nakazawa, A., Yokoi, K., Ikeuchi, K.: Leg Motion Primitives for a Humanoid Robot to Imitate Human Dances. Journal of Three Dimensional Images 18(1), 73–78 (2004)Google Scholar
- 14.Ha, S., Han, Y., Hahn, H.: Adaptive Gait Pattern Generation of Biped Robot based on Human’s Gait Pattern Analysis. International Journal of Mechanical Systems Science and Engineering 1 1(2), 80–85 (2007)Google Scholar