Abstract
Each of the positions to be adopted by a humanoid robot to make a particular movement can be considered as a postural scheme associated with that particular movement. For example, if we want the robot to complete a given step sequence, the robot should increase or decrease the positions of its links to arrive at the desired position, whilst maintaining its stability. Other possible examples of movement execution are sideways movement, walking upstairs, etc. In this paper, we propose a method for defining postural schemes that guarantee stability in all the intermediate positions of the movements. This method is based on the direct kinematics of the robot.
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Zarraonandia, T., de Lope, J., Maravall, D. (2004). Definition of Postural Schemes for Humanoid Robots. In: Conejo, R., Urretavizcaya, M., Pérez-de-la-Cruz, JL. (eds) Current Topics in Artificial Intelligence. TTIA 2003. Lecture Notes in Computer Science(), vol 3040. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25945-9_24
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DOI: https://doi.org/10.1007/978-3-540-25945-9_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22218-7
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