Realization of on-line trajectory generation based on two-computer system of humanoid robot BHR-02

Shusheng Lv; Qiang Huang; You Shi; Chenchen Li; Kejie Li

doi:10.1109/ICIA.2006.305808

Realization of on-line trajectory generation based on two-computer system of humanoid robot BHR-02

Shusheng Lv^*, Qiang Huang, You Shi, Chenchen Li, Kejie Li

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to conference › Paper › peer-review

3 Citations (Scopus)

Abstract

This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.

Original language	English
Pages	677-682
Number of pages	6
DOIs	https://doi.org/10.1109/ICIA.2006.305808
Publication status	Published - 2006
Event	2006 IEEE International Conference on Information Acquisition, ICIA 2006 - Weihai, Shandong, China Duration: 20 Aug 2006 → 23 Aug 2006

Conference

Conference	2006 IEEE International Conference on Information Acquisition, ICIA 2006
Country/Territory	China
City	Weihai, Shandong
Period	20/08/06 → 23/08/06

Keywords

Humanoid robot
Key parameters
Online trajectory generation
Two-computer system

Access to Document

10.1109/ICIA.2006.305808

Cite this

@conference{523701a4210444c2b276426ce2830a62,

title = "Realization of on-line trajectory generation based on two-computer system of humanoid robot BHR-02",

abstract = "This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.",

keywords = "Humanoid robot, Key parameters, Online trajectory generation, Two-computer system",

author = "Shusheng Lv and Qiang Huang and You Shi and Chenchen Li and Kejie Li",

year = "2006",

doi = "10.1109/ICIA.2006.305808",

language = "English",

pages = "677--682",

note = "2006 IEEE International Conference on Information Acquisition, ICIA 2006 ; Conference date: 20-08-2006 Through 23-08-2006",

}

TY - CONF

T1 - Realization of on-line trajectory generation based on two-computer system of humanoid robot BHR-02

AU - Lv, Shusheng

AU - Huang, Qiang

AU - Shi, You

AU - Li, Chenchen

AU - Li, Kejie

PY - 2006

Y1 - 2006

N2 - This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.

AB - This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.

KW - Humanoid robot

KW - Key parameters

KW - Online trajectory generation

KW - Two-computer system

UR - http://www.scopus.com/inward/record.url?scp=46249110263&partnerID=8YFLogxK

U2 - 10.1109/ICIA.2006.305808

DO - 10.1109/ICIA.2006.305808

M3 - Paper

AN - SCOPUS:46249110263

SP - 677

EP - 682

T2 - 2006 IEEE International Conference on Information Acquisition, ICIA 2006

Y2 - 20 August 2006 through 23 August 2006

ER -

Realization of on-line trajectory generation based on two-computer system of humanoid robot BHR-02

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this