1,171 research outputs found
Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach
This paper describes an approach to solve the
inverse kinematics problem of humanoid robots whose
construction shows a small but non negligible offset at
the hip which prevents any purely analytical solution to
be developed. Knowing that a purely numerical solution
is not feasible due to variable efficiency problems, the
proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an
analytical algorithm based on screw theory, and then uses
it as the initial condition of a numerical refining
procedure based on the Levenberg‐Marquardt algorithm.
In this way, few iterations are needed for any specified
attitude, making it possible to implement the algorithm
for real‐time applications. As a way to show the
algorithm’s implementation, one case of study is
considered throughout the paper, represented by the
SILO2 humanoid robot
Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots
This paper proposes a technique for automatic gain tuning of a momentum based
balancing controller for humanoid robots. The controller ensures the
stabilization of the centroidal dynamics and the associated zero dynamics.
Then, the closed-loop, constrained joint space dynamics is linearized and the
controller's gains are chosen so as to obtain desired properties of the
linearized system. Symmetry and positive definiteness constraints of gain
matrices are enforced by proposing a tracker for symmetric positive definite
matrices. Simulation results are carried out on the humanoid robot iCub.Comment: Accepted at IEEE-RAS International Conference on Humanoid Robots
(HUMANOIDS). 201
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