Humanoid Dynamic Controller

• Tipo: Artigo em Revista Científica Internacional
• Data: 2012

Autores

Rui Monteiro (Autor) FEUP; Luís Paulo Reis (Autor) FEUP; António Pereira (Autor) FEUP

Revista

Título: TELKOMNIKA Indonesian Journal of Electrical Engineering

Vol. 10 Nº 8

Páginas: 1936-1947

ISSN: 2087-278X

Editora: Institute of Advanced Engineering and Science

Indexação

COMPENDEX

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-00H-ZSY

Abstract (EN): In the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a umanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety. This document presents the implementation of a dynamic controller for humanoid robots, able to position the robot's center of mass in a certain location operating as a stability module. It is also described a precise behavior of preparing an omnidirectional kick for a humanoid robot by placing the support foot in a precise position and orientation calculated in accordance with the robot's position, the ball and the target, and by transferring the robot's center of mass to the desired position.

Idioma: Inglês

Tipo (Avaliação Docente): Científica