Resolved momentum control: humanoid motion planning based on the linear and angular momentum
Top Cited Papers
- 23 April 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1644-1650
- https://doi.org/10.1109/iros.2003.1248880
Abstract
We introduce a method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values. First, we derive a linear equation, which gives to total momentum of a robot from its physical parameters, the base link speed and the joint speeds. Constraints between the legs and the environment are also considered. The whole body motion is calculated from a given momentum reference by using a pseudo-inverse of the inertia matrix. As examples, we generated the kicking and walking motions and tested on the actual humanoid robot HRP-2. This method, the resolved momentum control, gives us a unified framework to generate various maneuvers of humanoid robots.Keywords
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