Dynamics filter - concept and implementation of online motion generator for human figures
Dynamics filter - concept and implementation of online motion generator for human figures
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DOI：
10.1109/robot.2000.844132
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发表时间：
2000-04
期刊：
影响因子：
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通讯作者：
K. Yamane;Yoshihiko Nakamura
中科院分区：
文献类型：
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作者：
K. Yamane;Yoshihiko Nakamura
仿人机器人需要在不断变化的环境中做出各种动态甚至富有表现力的动作。然而，用于生成类人运动的传统方法无法实现这一要求，因为它们只能通过相当复杂的优化过程来生成相当人工和预定义的运动。在本文中，我们提出了“动力学滤波器”的概念，将一个物理上不一致的运动到一个一致的，并提供了一个例子，其实施使用反馈控制和局部优化。优化是基于运动方程的约束运动链，这是来自我们以前提出的方法计算动态的结构变化的运动链。该方法可应用于仿人机器人的在线运动发生器。
Humanoid robots are required to make a variety of dynamics and even expressive motions in changing environments. However, the conventional methods for generating humanoid motions fail do achieve this requirement since they can only generate quite artificial and predefined motions through rather complicated optimization processes. In this paper, we propose the concept of "dynamics filter" which transforms a physically inconsistent motion into a consistent one, and provide an example of its implementation using feedback control and local optimization. The optimization is based on the equation of motion of constrained kinematic chains, which is derived from our previously proposed method for computing the dynamics of structure-varying kinematic chains. The proposed method can be applied to online motion generator of humanoid robots.