Hierarchical quadratic programming: Fast online humanoid-robot motion generation

Hierarchical quadratic programming: Fast online humanoid-robot motion generation

Hierarchical least-square optimization is often used in robotics to inverse a direct function when multiple incompatible objectives are involved. Typical examples are inverse kinematics or dynamics. The objectives can be given as equalities to be satisfied (e.g. point-to-point task) or as areas of satisfaction (e.g. the joint range). This paper proposes a complete solution to solve multiple lea...

Multicriteria Optimal Humanoid Robot Motion Generation

Online generation of humanoid walking motion based on a fast generation method of motion pattern that follows desired ZMP

This paper presents an e cient online method to generate humanoid walking motions that satisfy desired upper body trajectories while simultaneously carrying objects. A fast motion pattern genaration technique that follows the desired ZMP is adopted. In order to satisfy the control input given online, subsequent motion patterns are updated and connected stably to the old ones while executing. Du...

Online Walking Pattern Generation for Biped Humanoid Robot with Trunk

This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP ...

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers

In this paper, we present a new method for humanoid robot arm motion planning satisfying multiple constraints. In our method, the humanoid robot arm motion generation is formulated as an optimization problem. Four different constraints, which cover a wide range of humanoid robot tasks, are considered: minimum time, minimum distance, robot hand acceleration and constant joint angular velocity. R...