Coordinated Task Execution for Humanoid Robots
Coordinated Task Execution for Humanoid Robots
复制标题
人形机器人的协调任务执行
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
R. Dillmann
中科院分区：
文献类型：
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作者：
T. Asfour;Duc Nguyen Ly;K. Regenstein;R. Dillmann
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimen- tally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.
