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This paper addresses a inverse kinematics problem for kinematically redundant manipulators. In the problem, using the redundant degrees-of-freedom we can execute a secondary task which has no effect on a primary task. We usually design the secondary task as a performance criterion function to avoid obstacles, kinematic singularities, or joint limits, etc. For avoiding joint limits, however, many performance...
The paper describes a way of designing the gait for a biped robot, which is derived from falling down avoiding motion. Our proposed approach includes two phases of the motion, one is to remain standing at the spot, and the other is to take a step forward for avoiding the falling down. At first, the approach to remain standing at the spot is mentioned, where the COP on the ground should be made converge...
This paper describes an approach of motion stabilization for biped robots with flexible ankle joints. The flexible joints cause the resonant oscillation under conventional control. In our approach, the deviated center of gravity (COG) due to the ankle's deflections is measured in real-time by laser distance sensor mounted on the hip. Assuming the two mass model at COG, the equivalent reaction force...
This paper describes an approach of motion stabilization by using laser distance sensor for biped robots with flexible ankle joints. For avoiding the vibrated zero moment point(ZMP) behavior due to the mechanical resonance, the vibration control method is proposed in the paper. The deviated center of gravity (COG) due to the ankle's deflection is measured in real-time by laser distance sensor, and...
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