Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

Singularity-consistent Parameterization of Robot Motion and Control Singularity-consistent Parameterization of Robot Motion and Control

The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of work space can be mapped either as a critical or a noncritical point of the autonomous system, depending on the direction of approach to the singular point. Making use of the noncritical mapping, a closed-loop kinematic...

Multicriteria Optimal Humanoid Robot Motion Generation

STS Motion Control Using Humanoid Robot

This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the Zero Moment Point (ZMP), Centre of Pres...

Vision-based Safe Local Motion on a Humanoid Robot

Humanoid soccer robots are increasingly becoming more autonomous as sophisticated approaches are being developed for challenges in vision, motion and team coordination. The stated goal of the RoboCup initiative is to beat the human soccer champion team by 2050 [1]. In order to achieve this goal, it is essential to enable the robot to fully utilize the information extracted from the available se...

Rnn-based Cooperative Motion Control of 2-dof Robot Arms

This paper presents a general recurrent neural network (RNN) model for online control of time-varying robot manipulators. The robot manipulators with different setting parameters work cooperatively on an unknown curve tracing. Each joint of the manipulator is respectively provided a learning method to optimize trajectory by the training RNN model. In this paper, the proposed RNN model shortens ...