Humanoid Dynamic Controller

Detalhes bibliográficos
Autor(a) principal: Rui Monteiro
Data de Publicação: 2012
Outros Autores: Luís Paulo Reis, António Pereira
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://hdl.handle.net/10216/65029
Resumo: In the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a umanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety. This document presents the implementation of a dynamic controller for humanoid robots, able to position the robot's center of mass in a certain location operating as a stability module. It is also described a precise behavior of preparing an omnidirectional kick for a humanoid robot by placing the support foot in a precise position and orientation calculated in accordance with the robot's position, the ball and the target, and by transferring the robot's center of mass to the desired position.
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spelling Humanoid Dynamic ControllerEngenharia electrotécnica, electrónica e informáticaElectrical engineering, Electronic engineering, Information engineeringIn the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a umanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety. This document presents the implementation of a dynamic controller for humanoid robots, able to position the robot's center of mass in a certain location operating as a stability module. It is also described a precise behavior of preparing an omnidirectional kick for a humanoid robot by placing the support foot in a precise position and orientation calculated in accordance with the robot's position, the ball and the target, and by transferring the robot's center of mass to the desired position.20122012-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/10216/65029eng2087-278XRui MonteiroLuís Paulo ReisAntónio Pereirainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T13:26:22Zoai:repositorio-aberto.up.pt:10216/65029Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:40:29.017442Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Humanoid Dynamic Controller
title Humanoid Dynamic Controller
spellingShingle Humanoid Dynamic Controller
Rui Monteiro
Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
title_short Humanoid Dynamic Controller
title_full Humanoid Dynamic Controller
title_fullStr Humanoid Dynamic Controller
title_full_unstemmed Humanoid Dynamic Controller
title_sort Humanoid Dynamic Controller
author Rui Monteiro
author_facet Rui Monteiro
Luís Paulo Reis
António Pereira
author_role author
author2 Luís Paulo Reis
António Pereira
author2_role author
author
dc.contributor.author.fl_str_mv Rui Monteiro
Luís Paulo Reis
António Pereira
dc.subject.por.fl_str_mv Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
topic Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
description In the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a umanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety. This document presents the implementation of a dynamic controller for humanoid robots, able to position the robot's center of mass in a certain location operating as a stability module. It is also described a precise behavior of preparing an omnidirectional kick for a humanoid robot by placing the support foot in a precise position and orientation calculated in accordance with the robot's position, the ball and the target, and by transferring the robot's center of mass to the desired position.
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-01-01T00:00:00Z
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url https://hdl.handle.net/10216/65029
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2087-278X
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eu_rights_str_mv openAccess
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dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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