Humanoid robot motion generation with sequential physical constraints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2649-2654

  Ruchanurucks, Miti ^a   Nakaoka, Shinichiro ^a   Kudoh, Shunsuke ^a   Ikeuchi, Katsushi ^a  

^a INSTITUTE OF INDUSTRIAL SCIENCE   (Japan)

Author keywords

Hierarchical B spline; Humanoid robot motion generation; Robot physical constraints; Trajectory optimization

Indexed keywords

GLOBAL OPTIMIZATION; HIERARCHICAL SYSTEMS; HUMAN ENGINEERING; ITERATIVE METHODS; SPLINES; TRAJECTORIES;

DYNAMIC FORCES; FORCE CONSTRAINTS; HIERARCHICAL B-SPLINE; HUMANOID ROBOT MOTION GENERATION; PRECISION REFINEMENT; ROBOT PHYSICAL CONSTRAINTS; TRAJECTORY OPTIMIZATION;

INTELLIGENT ROBOTS;

EID: 33845665468     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642101     Document Type: Conference Paper

References (14)

1. M. Riley, A. Ude, K. Wade, and C. G. Atkeson., "Enabling real-time full body imitation: A natural way of transferring human movements to humanoids", IEEE International Conference on Robotics and Automation, 2003.
2. A. D'Souza, S. Vijayakumar, and S. Schaal, "Learning inverse kinematics", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001.
3. J. Lee and S.Y. Shin, "A hierarchical approach to interactive motion editing for human-like figures" ACM SIGGRAPH, 1999, pp. 39-48.
4. A. Ude, C.G. Atkeson, and M. Riley, "Programming full body movements for humanoid robot by observation", Robotics and Autonomous Systems, vol. 47, 2004, pp. 93-108.
5. M. Ruchanurucks, S. Nakaoka, S. Kudoh, and K. Ikeuchi, "Generation of humanoid robot motions with physical constraints using hierarchical B-spline", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
6. N.S. Pollard, J.K. Hodgins, M.J. Riley, and C.G. Atkeson, "Adapting human motion for the control of a humanoid robot", IEEE International Conference on Robotics and Automation, 2002.
7. A. Safonova, N.S. Pollard, and J.K. Hodgins, "Optimizing human motion for the control of a humanoid robot", 2nd International Symposium on Adaptive Motion of Animals and Machines, 2003.
8. K.G. Shin and N.D. McKay, "Minimum-time control of robotic manipulators with geometric path constraints", IEEE Trans. Ac., vol. 30, 1985, pp. 531-541.
9. S.J. Gotler, "Hierarchical and variational geometric modeling with wavelets", ACM Symposium on Interactive 3D Graphics, 1995, pp. 35-42.
10. W. Huyer and A. Neumaier, Multilevel coordinate search, Kluwer Academic Publishers, 1998, http://www.mat.univie.ac.at/~neum/software/ls/.
11. C. Rose, B. Guenter, B. Bodenheimer, and M.F. Cohen, "Efficient generation of motion transitions using spacetime constraints", ACM SIGGRAPH, 1996.
12. L. Zlajpah and B. Nemec, "Kinematic Control Algorithms for On-Line Obstacle Avoidance for Redundant Manipulators", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002.
13. C.K. Chui and E. Quak, An Introduction to Wavelets, Wavelet Analysis and its Application, Academic Press, 1992, vol. 1.
14. D. Forsey and R. Bartels, "Hierarchical B-Spline Refinement", Computer Graphics, vol. 22, 1988, pg. 205-212.