Motion planning for humanoid robots based on virtual constraints extracted from recorded human movements |
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Authors: | Uwe Mettin Pedro X. La Hera Leonid B. Freidovich Anton S. Shiriaev Jan Helbo |
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Affiliation: | 1. Department of Applied Physics and Electronics, Ume? University, 901 87, Ume?, Sweden 2. Department of Engineering Cybernetics, Norwegian University of Science and Technology, 7491, Trondheim, Norway 3. Department of Electronic Systems, Aalborg University, 9220, Aalborg, Denmark
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Abstract: | In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. In this paper, we consider motion planning for humanoid robots based on the concept of virtual holonomic constraints. At first, recorded kinematic data of particular human motions are analyzed in order to extract consistent geometric relations among various joint angles defining the instantaneous postures. Second, a simplified human body representation leads to dynamics of an underactuated mechanical system with parameters based on anthropometric data. Motion planning for humanoid robots of similar structure can be carried out by considering solutions of reduced dynamics obtained by imposing the virtual holonomic constraints that are found in human movements. The relevance of such a reduced mathematical model in accordance with the real human motions under study is shown. Since the virtual constraints must be imposed on the robot dynamics by feedback control, the design procedure for a suitable controller is briefly discussed. |
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Keywords: | Motion planning Humanoid robots Virtual holonomic constraints Underactuated mechanical systems |
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