Título
Humanoid locomotion planning for visually-guided task
Autor
TONATIUH SALDAÑA MORA
Colaborador
GUSTAVO ARECHAVALETA SERVIN (Asesor de tesis)
Nivel de Acceso
Acceso Abierto
Materias
Resumen o descripción
"This master thesis work presents the theoretical fundamentals, development strategies and implementation results of a walking pattern generator for humanoid robots, which is suitable for visually-guided tasks. In first place, a general introduction about the state-of-the-art related to research on
humanoid locomotion solutions is introduced, as well as a general overview about
humanoid robots, making emphasis on the main characteristics that identify this type of
robots from the rest of the existing platforms.
Furthermore, a method to construct the kinematic model for robots based on a tree-like
structure is proposed. Subsequently, several algorithms and relations necessary to
compute the model forward kinematics and to calculate the different versions of Jacobian
matrices are introduced.
Moreover, this work presents and explains two powerful techniques to compute the
model inverse kinematics. These methods take advantage of the inherent redundancy of
humanoid robots to simultaneously solve a determined amount of kinematic tasks, based
on a prioritized scheme.
Later, all important fundamentals related to the humanoid dynamics are introduced.
Particularly, the concept of the Zero-Moment Point (ZMP), which is a key parameter on
humanoid locomotion, is presented in this thesis work and besides, some methods to
determine the position of this parameter are discussed as well.
This thesis also presents some schemes to model the process of biped locomotion,
focusing on a method to determine the optimal trajectory of the robot Center of Mass
(CoM), based on the preview control of the reference ZMP position.
Besides, all fields that are studied in this thesis are taken together into a global
architecture for walking pattern generation, consisting on two stages of control, each of
them containing the processes of linear-quadratic regulation of the reference ZMP,
Prioritized Inverse Kinematics (PIK) and approximation of the real position of the ZMP
based on the robot movements.
A genuine verification of the functionality of the designed walking pattern generator is
exposed at the end of this thesis work, by presenting the results of the performed
simulations on a virtual humanoid model, as well as the experimentations on a physical
humanoid robot."
Fecha de publicación
septiembre de 2011
Tipo de publicación
Tesis de maestría
Recurso de información
Formato
application/pdf
Idioma
Inglés
Cobertura
DE-MX
Audiencia
Público en general
Repositorio Orígen
Repositorio Institucional CIDESI
Descargas
843