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When a mobile robot performs some special tasks, such as carrying a heavy load, moving on a slope or rough terrain, particularly contacting with the environment, it may become unstable even overturn. First, the paper presents a mobile humanoid robot whose upper human-like body is mounted on the mobile platform supported by three wheels (two driving wheels and one caster wheel) and subjected to nonholonomic...
The optimization algorithm of nonlinear controller based on cubic Bezier curve is presented. The nonholonomic mobile robot is stabilized to a desired pose, and the real-time planning and motion control is realized at the same time curvaturepsilas changing minimization is introduced to evaluate the Bezier curve. Using the penalty function method the problem of nonlinear constrained optimization is...
In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid...
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