A new method of optimal off-line trajectory planning with biped-walking robot

被引：0
|
作者：
Ji, J [1 ]
Ma, L [1 ]
Dai, S [1 ]
Zhang, Y [1 ]
机构：
[1] Harbin Inst Technol, Harbin 150006, Peoples R China
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99 | 1999年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The HIT III biped walking robot has four redundant DOF because it is similar with the lower limbs of human beings. The conventional optimal methods proposed for controlling such redundant DOF in other common robots are not suitable here because of the special characteristics. A new inverse kinematics method, which gives more attention to the robot's torso, is proposed in the paper. Based on the vector set obtained by the inverse kinematics method, a new peak torque reduction method is presented which can act on the robot and is shown to offer a valid method by experimental trials.
引用
收藏
页码：571 / 576
页数：6
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