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Title:

Inverse kinematics with floating base and constraints for full body humanoid robot control

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Michael Mistry, Jun Nakanishi, Gordon Cheng, Stefan Schaal
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
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