Motion planning of optimal throw for whole-body humanoid

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This presentation proposes a numerical framework that optimizes the throwing motions and generates the associated dynamic features for a whole-body humanoid. Rigorous dynamic models, such as actuation, biped balance based on Zero-Moment Point (ZMP), and ground reaction loads, are associated with the constraints. The algorithm outputs include the motion, required actuator torques, release parameters, and object projectile. Realistic human-like motions of sidearm and maximum distance throwing are generated as optimized solutions. The sidearm throw shows better optimality than the overarm throw in terms of actuator torques under the proposed mechanical model. The maximum distance throw is associated with active movement of the arm and torso with larger ranges of motion.

Original languageEnglish (US)
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Pages21-26
Number of pages6
DOIs
StatePublished - 2010
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: Dec 6 2010Dec 8 2010

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Other

Other2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
CountryUnited States
CityNashville, TN
Period12/6/1012/8/10

Keywords

  • Dynamic model
  • Humanoid
  • Maximum distance throw
  • Motion generation
  • Optimization
  • Sidearm throw
  • Zero-moment point

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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