Abstract
We propose an inverse kinematic control framework for a position controlled humanoid robot with bounded joint range, velocity, and acceleration limits. The proposed framework comprises two components, an inverse kinematics algorithm and a damping controller. The proposed IKTC (Inverse Kinematics with Task Corrections) algorithm is based on the second order task-priority method in order to ensure the velocity-continuity of the solution. When the minimum norm solution exceeds the joint bounds, the problem is treated as a quadratic optimization problem with box constraints; an optimal task correction that lets the solution satisfy the constraints is found. In order to express the three kinds of joint constraints as a second order box constraint, a novel method is also proposed. The joint stiffness of a position controlled humanoid robot necessitates a damping controller to attenuate jolts caused by repeated contacts. We design a damping controller by using an inverted pendulum model with a compliant joint that takes into account the compliance around the foot. By using ZMP [ 20 ] measurement, the proposed damping controller is applicable not only in SSP (Single Support Phase) but also in DSP (Double Support Phase). The validity of the proposed methods is shown by imitating a captured whole-body human motion with a position controlled humanoid robot.
Highlights
The ultimate purpose of humanoid robots is to provide convenience for humans in human living environments
Our inverse kinematics algorithm is defined at the acceleration level and is different from their method since they dealt with a redundant manipulator, whereas we are interested in a humanoid robot, which may not be redundant due to multiple tasks
We proposed an inverse kinematic control framework for a position controlled humanoid robot with bounded joint range, velocity, and acceleration limits
Summary
The ultimate purpose of humanoid robots is to provide convenience for humans in human living environments. Simple inversion of the Jacobian does not take into account unilateral constraints such as the joint range, velocity, and acceleration limits. For this reason, several methods have introduced tasks to www.intechopen.com. Our inverse kinematics algorithm is defined at the acceleration level and is different from their method since they dealt with a redundant manipulator, whereas we are interested in a humanoid robot, which may not be redundant due to multiple tasks. We propose an inverse kinematic control framework for a position controlled humanoid robot that has constraints of joint range, velocity, and acceleration limits.
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