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

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