Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups

被引：0

作者：

Suleiman, Wael ^{[1
]}

Yoshida, Eiichi

Laumond, Jean-Paul ^{[1
]}

Monin, Andre ^{[1
]}

机构：

[1] Univ Toulouse, CNRS, LAAS, 7 Ave Colonel Roche, F-31077 Toulouse, France

来源：

2008 3RD INTERNATIONAL CONFERENCE ON INFORMATION AND COMMUNICATION TECHNOLOGIES: FROM THEORY TO APPLICATIONS, VOLS 1-5 | 2008年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid motions by minimizing the efforts, and at the same time improving the stability of the humanoid robot during the execution of the planned tasks. Experimental results using HRP-2 platform are provided to validate the proposed method.

引用

页码：1163 / +

页数：2

共 50 条

[21] Dynamics of simple Lie groups on Lorentz manifolds
Adams, S
GEOMETRIAE DEDICATA, 2004, 105 (01) : 1 - 12
[22] Definable topological dynamics and real Lie groups
Jagiella, Grzegorz
MATHEMATICAL LOGIC QUARTERLY, 2015, 61 (1-2) : 45 - 55
[23] Dynamics of Simple Lie Groups on Lorentz Manifolds
Scot Adams
Geometriae Dedicata, 2004, 105 : 1 - 12
[24] An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
Konno, Atsushi
Myojin, Tomoya
Matsumoto, Takaaki
Tsujita, Teppei
Uchiyama, Masaru
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2011, 30 (13): : 1596 - 1608
[25] Optimizing NAO humanoid walking using ABC algorithm
Halataei, Fatemeh
Kayhani, Amir Kazem
2015 2ND INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED ENGINEERING AND INNOVATION (KBEI), 2015, : 1142 - 1144
[26] Immediate Generation of Jump-and-Hit Motions by a Pneumatic Humanoid Robot Using a Lookup Table of Learned Dynamics
Tanaka, Kazutoshi
Nishikawa, Satoshi
Niiyama, Ryuma
Kuniyoshi, Yasuo
IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (03): : 5557 - 5564
[27] Recursive posterior Cramér-Rao lower bound on Lie groups
Chahbazian, Clement
Dahia, Karim
Merlinge, Nicolas
Winter-Bonnet, Benedicte
Blanc, Aurelien
Musso, Christian
AUTOMATICA, 2024, 160
[28] On the geometry of rigid-body motions: the relation between Lie groups and screws
Stramigioli, S
Maschke, B
Bidard, C
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2002, 216 (01) : 13 - 23
[29] ON LEFT INVARIANT BROWNIAN MOTIONS AND HEAT KERNELS OF NILPOTENT LIE-GROUPS
ALBEVERIO, S
AREDE, T
HABA, Z
JOURNAL OF MATHEMATICAL PHYSICS, 1990, 31 (02) : 278 - 285
[30] Planning for robust execution of humanoid motions using future perceptive capability
Michel, Philipp
Scheurer, Christian
Kuffner, James
Vahrenkamp, Nikolaus
Dillmann, Ruediger
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 3229 - +

← 1 2 3 4 5 →