Squat Motion Generation for the Humanoid Robot iCub with Series Elastic Actuators

被引：0
|
作者：
Hu, Yue [1 ]
Nori, Francesco [2 ]
Mombaur, Katja [1 ]
机构：
[1] Heidelberg Univ, IWR, Interdisciplinary Ctr Sci Comp, Bergheimer Str 58, D-69115 Heidelberg, Germany
[2] IIT, Fdn Ist Italiano Tecnol, I-16163 Genoa, Italy
来源：
2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) | 2016年
关键词：
OPTIMIZATION;
D O I：
暂无
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
In the recent version of the iCub humanoid robot of the Fondazione Istituto Italiano di Tecnologia (IIT), Series Elastic Actuators (SEA) have been introduced in the knee and ankle pitch joints. As a first step of motion generation for the iCub we analyze the squat motion by means of model based optimal control. The model of the robot has been reduced to 3 DOF on the sagittal plane. The full dynamics of the robot including the elasticity is taken into account. Motions have been generated using different sets of objective functions, such. as minimization of joint torques, joint accelerations, mechanical work, squat range. The results have been tested on. the iCub of Heidelberg University (HeiCub), a reduced version of the standard iCub without head and arms, with 21 DOF, of which IS actuated DOF.
引用
收藏
页码：207 / 212
页数：6
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