Title
An approach of generic solution for humanoid stepping over motion
Date Issued
01 December 2010
Access level
metadata only access
Resource Type
conference paper
Author(s)
Universidad de la Sabana
Abstract
This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based and contact wrench dynamical constraints. This approach is validated successfully, by simulation and actual tests on the HRP-2 humanoid robot platform. ©2010 IEEE.
Start page
474
End page
479
Language
English
OCDE Knowledge area
Ingeniería eléctrica, Ingeniería electrónica
Scopus EID
2-s2.0-79851506085
ISBN
9781424486885
Resource of which it is part
2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
ISBN of the container
978-142448688-5
Conference
10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Sources of information:
Directorio de Producción Científica
Scopus