제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.2759-2764
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- 2003
Study on redundancy resolution algorithm of humanoid
- Yoo, Dong-Su (School of Electrical Engineering and Computer Science, HANYANG UNIVERSITY) ;
- So, Byung-Rok (School of Electrical Engineering and Computer Science, HANYANG UNIVERSITY) ;
- Choi, Jae-Yeon (School of Electrical Engineering and Computer Science, HANYANG UNIVERSITY) ;
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Yi, Byung-Ju
(School of Electrical Engineering and Computer Science, HANYANG UNIVERSITY) ;
- Kim, Whee-Kuk (Department of Control and Instrumentation Eng,, KOREA UNIVERSITY)
- 발행 : 2003.10.22
초록
Humans usually employ more joints than they actually need, and thus they can be categorized as a kinematically redundant system. Therefore, the behavior of the human body can be analyzed by several redundancy resolution algorithms. Different from typical industrial robots that are fixed to the ground, the COG/ZMP condition should be taken into account in the human body motion in order not to fall down. Thus a COG/ZMP stability index is employed as a measure of stability. Kinematic redundancy inherent in the human body can be exploited to satisfy the COG/ZMP condition. Simulation result shows that the COG/ZMP condition can be satisfied by exploiting the null space motion of the kinematically redundant human body model.