- Tytuł:
- Preview Control applied for humanoid robot motion generation
- Autorzy:
-
Szumowski, Maksymilian
Żurawska, Magdalena Sylwia
Zielińska, Teresa - Powiązania:
- https://bibliotekanauki.pl/articles/229349.pdf
- Data publikacji:
- 2019
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
motion generation
humanoid robot
Preview Control
Extended Cart-Table model
off-line method - Opis:
- This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
- Źródło:
-
Archives of Control Sciences; 2019, 29, 1; 111-132
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł