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Generating Complex Movements of Humanoid Robots by Using Primitives

  • Miomir Vukobratović
  • Branislav Borovac
  • Mirko Raković
  • Milutin Nikolić
Part of the Communications in Computer and Information Science book series (CCIS, volume 82)

Abstract

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.

Keywords

humanoid pattern generation dynamic balance ZMP primitives 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Miomir Vukobratović
    • 1
  • Branislav Borovac
    • 2
  • Mirko Raković
    • 2
  • Milutin Nikolić
    • 2
  1. 1.Institute Mihajlo PupinBelgradeSerbia
  2. 2.Faculty of Technical SciencesUniversity of Novi SadNovi SadSerbia

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