Abstract
An online posture modification method termed Jacobi Compensation is proposed which is suitable to modify precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can account for modeling errors in trajectory precalculation by shifting e.g. the center of mass (CoM) or certain parts of the humanoid mechanism to increase walking stability and performance. A theoretical analysis of stability properties is given.
| Originalsprache | Englisch |
|---|---|
| Titel | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Seiten | 124-129 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - 2004 |
| Veranstaltung | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan Dauer: 28 Sept. 2004 → 2 Okt. 2004 |
Publikationsreihe
| Name | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Band | 1 |
Konferenz
| Konferenz | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Land/Gebiet | Japan |
| Ort | Sendai |
| Zeitraum | 28/09/04 → 2/10/04 |