User: Guest  Login
Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Michael Mistry, Jun Nakanishi, Gordon Cheng, Stefan Schaal 
Title:
Inverse kinematics with floating base and constraints for full body humanoid robot control 
Pages contribution:
22-27 
Abstract:
This paper explores inverse kinematics for full body, floating base, task space control on a real humanoid robot. We discuss how constraints can be used to address the issue of under-actuation due to floating base, and list the sufficient conditions for maintaining task space control of arbitrary robot tasks. We suggest a controller based on a task priority framework and demonstrate the feasibility of the approach on the SARCOS/ATR CBi humanoid robot. We implement examples of position control vi...    »
 
Editor:
IEEE 
Book / Congress title:
Humanoids 2008-8th IEEE-RAS International Conference on Humanoid Robots 
Organization:
IEEE 
Date of publication:
01.12.2008 
Year:
2008