A Time-Varying-Constrained Motion Generation Scheme for Humanoid Robot Arms
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An efficient time-varying gesture-determined dynamical (TV-GDD) scheme is proposed for motion planning of redundant dual-arms manipulation. Motion planning for such tasks on humanoid robots with a high number of degrees-of-freedom (DOF) requires computationally efficient approaches to generate the expected joint configuration when given the end-effector tasks. To do so, we investigate a time-varying joint-limits constrained quadratic-programming (QP) approach and an efficient numerical computing method. This strategy provides feasible solutions at a low computation cost within physical limits. In addition, the joint configuration can be adjusted dynamically according to the expected gestures and tasks. Comparative simulations and experimental results on a humanoid robot demonstrate the effectiveness and feasibility of the scheme.
KeywordsHumanoid robot Dual arms Motion generation Quadratic programming Redundancy resolution
This work was supported in part by the National Natural Science Foundation under Grants 61603142 and 61633010, the Guangdong Foundation for Distinguished Young Scholars under Grant 2017A030306009, the Science and Technology Program of Guangzhou under Grant 201707010225, the Fundamental Research Funds for Central Universities under Grant 2017MS049.
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