A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR HUMANOID ROBOTS

Koshiro Noritake, Shohei Kato, Hidenori Itoh

2004

Abstract

This paper proposes a static posture based motion generation system for humanoid robots. The system generates a sequence of motion from given several postures, and the motion is smooth and stable in the balance. We have produced all the motions of Tai Chi Chuan by the system. Motion generation for humanoids has been studied mainly based on the dynamics. Dynamic based method has, however, some defects: e.g., numerous parameters which can not be always prepared, expensive computational cost and no guarantee that the motions are stable in balance. We have, thus, studied less dependent-on-dynamics approach. A motion is described as a sequence of postures. Our system figure out if we need extra postures to insert for stability. This method enables humanoid robot, HOAP-1 to do Tai Chi Chuan.

Paper Citation

in Harvard Style

Noritake K., Kato S. and Itoh H. (2004). A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR HUMANOID ROBOTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 41-47. DOI: 10.5220/0001143100410047

in Bibtex Style

@conference{icinco04,
author={Koshiro Noritake and Shohei Kato and Hidenori Itoh},
title={A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR HUMANOID ROBOTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={41-47},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143100410047},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR HUMANOID ROBOTS
SN - 972-8865-12-0
AU - Noritake K.
AU - Kato S.
AU - Itoh H.
PY - 2004
SP - 41
EP - 47
DO - 10.5220/0001143100410047