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Modification of Gesture-Determined-Dynamic Function with Consideration of Margins for Motion Planning of Humanoid Robots

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Document pages: 17 pages

Abstract: The gesture-determined-dynamic function (GDDF) offers an effective way tohandle the control problems of humanoid robots. Specifically, GDDF is utilizedto constrain the movements of dual arms of humanoid robots and steer specificgestures to conduct demanding tasks under certain conditions. However, there isstill a deficiency in this scheme. Through experiments, we found that thejoints of the dual arms, which can be regarded as the redundant manipulators,could exceed their limits slightly at the joint angle level. The performancestraightly depends on the parameters designed beforehand for the GDDF, whichcauses a lack of adaptability to the practical applications of this method. Inthis paper, a modified scheme of GDDF with consideration of margins (MGDDF) isproposed. This MGDDF scheme is based on quadratic programming (QP) framework,which is widely applied to solving the redundancy resolution problems of robotarms. Moreover, three margins are introduced in the proposed MGDDF scheme toavoid joint limits. With consideration of these margins, the joints ofmanipulators of the humanoid robots will not exceed their limits, and thepotential damages which might be caused by exceeding limits will be completelyavoided. Computer simulations conducted on MATLAB further verify thefeasibility and superiority of the proposed MGDDF scheme.

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