Exploiting the Global Dynamics Structure of Whole-Body Humanoid Motion - Getting the “Knack” of Roll-and-Rise Motion View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2005

AUTHORS

Yasuo Kuniyoshi , Yoshiyuki Ohmura , Koji Terada , Tomoyuki Yamamoto , Akihiko Nagakubo

ABSTRACT

Dexterity of human behavior arises from the ability to discover and exploit so-called “knacks”, or the essential reference frames (coordinates in the phase space) for successful control under unknown perturbations. This strategy differs from the traditional robot control in that it only partially specifies/controls the phase space trajectory, pushing the system into a desired natural dynamics, letting it do the job. As the first example of such a strategy, we investigated a “roll-andrise” motion, a fully dynamic whole-body motion with unpredictable perturbations due to multiple contacts with the ground. The “knacks” of the motion are identified and analyzed by a systematic search of the phase space. A successful experiment with an adult-size whole body humanoid robot is presented; it rose from a flat-lying posture to a crouching posture within 2 seconds. More... »

PAGES

385-394

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/11008941_41

DOI

http://dx.doi.org/10.1007/11008941_41

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1048132322


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