Introduction to humanoid robotics:
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
Berlin [u.a.]
Springer
2014
|
| Series: | Springer tracts in advanced robotics
101 |
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XIV, 222 S. Ill., graph. Darst. |
| ISBN: | 9783642545351 |
Staff View
MARC
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| 245 | 1 | 0 | |a Introduction to humanoid robotics |c Shuuji Kajita, ... |
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Record in the Search Index
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| adam_text |
1 INTRODUCTION 1
2 KINEMATICS 19
2.1 COORDINATE TRANSFORMATIONS 19
2.1.1 WORLD COORDINATES 19
2.1.2 LOCAL COORDINATES AND HOMOGENEOUS
TRANSFORMATIONS 20
2.1.3 LOCAL COORDINATE SYSTEMS LOCAL TO LOCAL
COORDINATE SYSTEMS 23
2.1.4 HOMOGENEOUS TRANSFORMATIONS
AND CHAIN RULES 25
2.2 CHARACTERISTICS OF ROTATIONAL MOTION 25
2.2.1 ROLL. PITCH AND YAW NOTATION 26
2.2.2 THE MEANING OF ROTATION MATRICES 27
2.2.3 CALCULATING THE INVERSE OF A ROTATION MATRIX 28
2.2.4 ANGULAR VELOCITY VECTOR 29
2.2.5 DIFFERENTIATION OF THE ROTATION MATRIX AND
ANGULAR VELOCITY VECTORS 32
2.2.6 INTEGRATION OF THE ANGULAR VELOCITY VECTOR AND
MATRIX EXPONENTIAL 34
2.2.7 MATRIX LOGARITHM 35
2.3 VELOCITY IN THREE DIMENSIONAL SPACE 36
2.3
1 THE LINEAR AND ANGULAR VELOCITY
OF A SINGLE OBJECT 36
2.3.2 THE LINEAR AND ANGULAR VELOCITY
OF TWO OBJECTS 38
2.4 ROBOT DATA STRUCTURE AND PROGRAMMING 40
2.4.1 DATA STRUCTURE 40
2.4.2 PROGRAMMING WITH RECURSIONS 42
2.5 KINEMATICS OF A HUMAUOID ROBOT 45
2.5.1 CREATING THE MODEL 45
HTTP://D-NB.INFO/1047460769
XII
CONTENTS
2.5.2 FORWARD KINEMATICS: CALCULATING THE POSITION OF
THE LINKS FROM JOINT ANGLES 47
2.5.3 INVERSE KINEMATICS: CALCULATING THE JOINT ANGLES
FROM A LINK'S POSITION AND ATTITUDE 49
2.5.4 NUMERICAL SOLUTION TO INVERSE KINEMATICS 53
2.5.5 JACOBIAN 57
2.5.6 JACOBIAN AND THE JOINT VELOCITY 59
2.5.7 SINGULAR POSTURES 62
2.5.8 INVERSE KINEMATICS WITH SINGULARITY ROBUSTNESS. 63
2.5.9 APPENDIX: SUPPLEMENTARY FUNCTIONS 65
3 ZMP AND DYNAMICS 69
3.1 ZMP AND GROUND REACTION FORCES 69
3.1.1 ZMP OVERVIEW 69
3.1.2 2D ANALYSIS 71
3.1.3 3D ANALYSIS 73
3.2 MEASUREMENT OF ZMP 77
3.2.1 GENERAL DISCUSSION 77
3.2.2 ZMP OF EACH FOOT 79
3.2.3 ZMP FOR BOTH FEET, CONTACT. 82
3 3 DYNAMICS OF HUMANOID ROBOTS 83
3.3.1 HUMANOID R.OBOT,
MOTION AND GROUND REACTION
FORCE 83
3.3.2 MOMENTUM 85
3.3.3 ANGULAR MOMENTUM 87
3.3.4 ANGULAR MOMENTUM AND INERTIA TENSOR OF RIGID
BODY 89
3.3.5 CALCULATION OF ROBOT'S CENTER OF MASS 92
3.3.6 CALCULATION OF LINK SPEED AND ANGULAR
VELOCITY 93
3.3.7 CALCULATION OF ROBOT'S MOMENTUM 94
3.3.8 CALCULATION OF ROBOT'S ANGULAR MOMENTUM 94
3.4 CALCULATION OF ZMP FROM ROBOT'S MOTION 95
3.4.1 DERIVATION OF ZMP 95
3.4.2 CALCULATION OF ZMP USING APPROXIMATION 97
3.5 SOME NOTES FOR ZMP 98
3.5.1 TWO EXPLANATIONS 98
3.5.2 DOES ZMP EXIST OUTSIDE THE SUPPORT POLYGON
DUE TO THE ACCELERATION OF THE CENTER OF MASS? . 98
3.5.3 LIMITATION OF ZMP 101
3.6 APPENDIX: CONVEX SET AND CONVEX HULL 102
CONTENTS XIII
4 BIPED WALKING 105
4.1 HOW TO REALIZE BIPOD WALKING? 105
4.2 TWO DIMENSIONAL WALKING PATTERN GENERATION 107
4.2.1 TWO DIMENSIONAL INVERTED PENDULUM 107
4.2.2 BEHAVIOR OF LINEAR INVERTED PENDULUM 108
4.2.3 ORBITAL ENERGY 112
4.2.4 SUPPORT LEG EXCHANGE L13
4.2.5 PLANNING A SIMPLE BIPED GAIT 115
4.2.G EXTENSION TO A WALK ON UNEVEN TERRAIN 11G
4.3 3D WALKING PATTERN GENERATION 120
4.3.1 3D LINEAR INVERTED PENDULUM 120
4.3.2 NATURES OF THE 3D LINEAR INVERTED PENDULUM L22
4.3.3 3D WALKING PATTERN GENERATION 126
4.3.4 INTRODUCING DOUBLE SUPPORT PHASE 133
4.3.5 FROM LINEAR INVERTED PENDULUM TO MULTI-BODY
MODEL 135
4.3.G IMPLEMENTATION EXAMPLE 137
4.4 ZMP BASED WALKING PATTERN GENERATION 138
4.4.1 CART-TABLE MODEL 138
4.4.2 OFF-LINE WALKING PATTERN GENERATION 140
4.4.3 OIL-LINE WALKING PATTERN GENERATION 142
4.4.4 DYNAMICS FILTER BASED ON PREVIEW CONTROL 147
4.4.5 ADVANCED PATTERN GENERATORS 149
4.5 STABILIZER 149
4.5.1 PRINCIPLES OF STABILIZING CONTROL 150
4.5.2 STABILIZING CONTROL OF HONDA HUMANOID ROBOT 154
4.5.3 ADVANCED STABILIZERS 155
4.6 PIONEERS OF DYNAMIC BIPED WALKING TECHNOLOGY 155
4.7 ADDITIONAL METHODS FOR BIPED CONTROL 156
4.7.1 PASSIVE DYNAMIC WALK 157
4.7.2 NONLINEAR OSCILLATOR AND CENTRAL PATTERN
GENERATORS 158
4.7.3 LEARNING AND EVOLUTIONARY COMPUTING 158
5 GENERATION OF WHOLE BODY MOTION PATTERNS 159
5.1 HOW TO GENERATE WHOLE BODY MOTION 159
5.2 GENERATING ROUGH WHOLE BODY MOTION 160
5.2.1 USING MOTION CAPTURE 162
5.2.2 USING A GRAPHICAL USER INTERFACE 163
5.2.3 USING HIGH SPEED MULTIVARIATE SEARCH METHODS . . 164
5.3 CONVERTING WHOLE BODY MOTION PATTERNS TO DYNAMICALLY
STABLE MOTION 165
5.3.1 DYNAMICS FILTER 165
5.3.2 AUTO BALANCER 166
5.3.3 STRICT TRUNK MOTION COMPUTATION ALGORITHM 167
XIV CONTENTS
5.4 REMOTE OPERATION OF HUNIANOID ROBOTS WITH WHOLE
BODY MOTION GENERATION 1G9
5.4.1 REMOTE GENERATION OF WHOLE BODY MOTION
USING THE OPERATION POINT SWITCHING METHOD 170
5.4.2 FULL BODY MOTION GENERATION OF STABLE MOTION
USING SPLIT MOMENTUM CONTROL 172
5.4.3 APPLICATION AND EXPERIMENTS WITH THE
HUNIANOID R,OBOT, HR.P-2 174
5.5 REDUCING THE IMPACT OF A HUNIANOID ROBOT FALLING
BACKWARDS 177
5.6 MAKING A HUNIANOID ROBOT GET UP AGAIN 180
6 DYNAMIC SIMULATION 183
G.L DYNAMICS OF ROTATING RIGID BODY 184
G.L.L EULER'S EQUATION OF MOTION 184
6.1.2 SIMULATION OF RIGID BODY ROTATION 185
6.2 SPATIAL VELOCITY J 86
6.2.1 SPEED OF RIGID BODY 186
6.2.2 INTEGRATION OF SPATIAL VELOCITY 188
6.3 DYNAMICS OF RIGID BODY 189
6.3.1 NEWTON-EULER EQUATIONS 189
6.3.2 DYNAMICS BY SPATIAL VELOCITY 191
6.3.3 RIGID BODY SIMULATION BASED ON SPATIAL
VELOCITY 192
6.3.4 SIMULATION OF A SPINNING TOP 193
6.4 DYNAMICS OF LINK SYSTEM 196
6.4.1 FORWARD KINEMATICS WITH ACCELERATION 196
6.4.2 INVERSE DYNAMICS OF LINK SYSTEM 197
6.4.3 FORWARD DYNAMICS OF LINK SYSTEM 200
6.4.4 FEATHERSTONE'S METHOD 203
6.5 BACKGROUND MATERIAL FOR THIS SECTION 205
6.6 APPENDIX 206
6.6.1 TREATMENT OF FORCE AND MOMENT 206
6.6.2 SUBROUTINES 207
REFERENCES 211
INDEX 221 |
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| building | Verbundindex |
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| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| indexdate | 2024-09-10T01:13:34Z |
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| isbn | 9783642545351 |
| language | English |
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| physical | XIV, 222 S. Ill., graph. Darst. |
| publishDate | 2014 |
| publishDateSearch | 2014 |
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| publisher | Springer |
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| series2 | Springer tracts in advanced robotics |
| spelling | Introduction to humanoid robotics Shuuji Kajita, ... Berlin [u.a.] Springer 2014 XIV, 222 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 101 Schreitroboter (DE-588)4281192-2 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Bipedie (DE-588)4235947-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 s Mehrkörpersystem (DE-588)4038390-8 s Bahnplanung (DE-588)4267628-9 s Schreitroboter (DE-588)4281192-2 s Bipedie (DE-588)4235947-8 s DE-604 Kajita, Shuuji Sonstige oth Hirukawa, Hirohisa Sonstige oth Harada, Kensuke Sonstige oth Yokoi, Kazuhito Sonstige oth Erscheint auch als Online-Ausgabe 978-3-642-54536-8 Springer tracts in advanced robotics 101 (DE-604)BV016421724 101 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4593148&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027288944&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Introduction to humanoid robotics Springer tracts in advanced robotics Schreitroboter (DE-588)4281192-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Bipedie (DE-588)4235947-8 gnd Bahnplanung (DE-588)4267628-9 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
| subject_GND | (DE-588)4281192-2 (DE-588)4038390-8 (DE-588)4235947-8 (DE-588)4267628-9 (DE-588)7576811-2 |
| title | Introduction to humanoid robotics |
| title_auth | Introduction to humanoid robotics |
| title_exact_search | Introduction to humanoid robotics |
| title_full | Introduction to humanoid robotics Shuuji Kajita, ... |
| title_fullStr | Introduction to humanoid robotics Shuuji Kajita, ... |
| title_full_unstemmed | Introduction to humanoid robotics Shuuji Kajita, ... |
| title_short | Introduction to humanoid robotics |
| title_sort | introduction to humanoid robotics |
| topic | Schreitroboter (DE-588)4281192-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Bipedie (DE-588)4235947-8 gnd Bahnplanung (DE-588)4267628-9 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
| topic_facet | Schreitroboter Mehrkörpersystem Bipedie Bahnplanung Humanoider Roboter |
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