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This paper investigates task realizability for robot systems with a representation space-based technique. It is a general technique which can be applied to different robot systems with various tasks. In this paper, initial results on evaluation of motion planning tasks are presented to show the effectiveness of the proposed technique. Path planning tasks of a two-link revolute manipulator in presence...
We present full state feedback controllers for standing and walking balance of humanoid robot. The robot is simulated as a two-joint inverted pendulum for standing and a five-link model for walking, and is disturbed by a horizontal push with given size and location in the sagittal plane. We optimize the parametric controllers for different push sizes, locations, and directions. For standing balance,...
This paper presents a nonlinear controller based on a trajectory library. To generate the library, we combine two trajectory optimization methods: a parametric trajectory optimization method that finds coarse initial trajectories and Differential Dynamic Programming (DDP) that further refines these trajectories and generates linear local models of the optimal control laws. To construct a controller...
This paper develops full state feedback parametric controllers for perturbed walking of humanoid robot in response to external perturbations. We simulate models in the sagittal and lateral plane and in 3-dimensions, use a horizontal push of a given size, direction, location, and time as a perturbation, and optimize parametric controllers for different push sizes, directions, locations, and times....
This paper proposes a general motion planning and coordination strategy for robot systems. The representation space (RS) of a robot system is constructed to describe the distributions of system attributes. The reachable area in the RS, denoting the attribute set that the system can be of, indicates the system's ability to accomplish tasks. Moreover, it also describes the influences of the internal...
This paper develops full-state parametric controllers for standing balance of humanoid robots in response to impulsive and constant pushes. We also explore a hypothesis that postural feedback gains in standing balance should change with perturbation size. From an engineering point of view this is known as gain scheduling. We use an optimization approach to see if feedback gains should scale with the...
A new trajectory planning approach for robot manipulators is proposed. The state space for manipulator system is defined and constructed, by which the reachable scope of the system state is traced out according to the systempsilas internal and external constraints. Conditions of performing successfully the task are given. For realizable task, the optimal strategy for task execution is obtained. If...
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