This paper focuses on developing a consistent methodology for deriving a closed-form inverse kinematic joint solution of a general humanoid robot. Most humanoid-robot researchers resort to iterative methods for inverse kinematics using the Jacobian matrix to avoid the difficulty of finding a closed-form joint solution. Since a closed-form joint solution, if available, has many advantages over iterative methods, we have developed a novel reverse decoupling mechanism method by viewing the kinematic chain of a limb of a humanoid robot in reverse order and then decoupling it into the positioning and orientation mechanisms, and finally utilizing the inverse transform technique in deriving a consistent joint solution for the humanoid robot. The proposed method presents a simple and efficient procedure for finding the joint solution for most of the existing humanoid robots. Extensive computer simulations of the proposed approach on a Hubo KHR-4 humanoid robot show that it can be applied easily to most humanoid robots with slight modifications.

/pdf/closed-form-inverse-kinematic-joint-solution-for-humanoid-1csfscrq8r.pdf

Closed-form inverse kinematic joint solution for humanoid robots

The goal of this paper is to present a new realtime controller based on linear model predictive control for an omnidirectionnal wheeled humanoid robot. It is able to control both the mobile base of the robot and its body, while taking into account dynamical constraints. It makes it possible to have high velocity and acceleration motions by predicting the dynamic behavior of the robot in the future. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in terms of robustness and tracking control, efficiently managing kinematic and dynamical constraints.

/pdf/linear-model-predictive-control-of-the-locomotion-of-pepper-t5nw57zlea.pdf

Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels

This paper presents a 6-DOF robot arm system, proposed a strategy for solving the inverse kinematics equations, using the robot arm assembled by seven AI servos (RX-64), set up robot's coordinate system with the D-H notation method. The motion trajectory of a robot arm is calculated using the geometric analysis. It was considered as the length of robot arm and motion angle in the whole system. To adjust and drive the robot arm to the coordinates of folder and place between ones and the target object, make the angle of the shaft position can accurately locate the direction for all axes of the robot arm and obtain the optimal motion path. Finally, Matlab software was used to verify and compare the results of the inverse kinematics equations analysis with the experimental results. Under the experimental test, we position the object using the camera which was installed on robot arm, according to the attitude of the object, control the robot arm through the analysis result of inverse kinematics equation in order to make the robot arm achieve the action of exact grasping object. Finally, the robot arm system will be used on the meal service robot to serve for guests.

Inverse kinematics analysis trajectory planning for a robot arm

A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control

Detailed analysis is given to kinematics of a humanoid robot manipulator. Forward and inverse kinematics of the robot manipulator is performed through Denevit and Hartenberg method. Geometry transformation and square transformation methods are put forward in order to separate joint variables from kinematic equations and kinematics equations are obtained, whereupon mathematic formulas are provided for humanoid robot manipulator control. Simulation results verify the effectiveness of kinematics equations.

Kinematics analysis and simulation of a 6-DOF humanoid robot manipulator

We have developed a highly flexible anthropomorphic 7-DOF robotic arm for a mobile humanoid robot. The kinematics of the arm such as workspace, singularity, the number and physical nature of self-motion are presented. The concepts and methodology of the inverse kinematics base on the self-motion of the arm are described. By this method the task and motion scheduling can simply be done. The formulations of dynamics and the dynamic effect due to the arm's dead weight were analyzed.

Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot

For wheel-based humanoid robot, the dynamic stability is also an important question just like for biped robot. This paper unites the new recursive Newton-Euler method for dynamic modeling and the ZMP concept and then obtains the ZMP model of the robot. The merit of this model is that it is a function of the position, velocity and acceleration of joints in joint space and easier to realize realtime control due to less calculation. Calculation and simulation show that the waist motion takes the main effect on the dynamic stability of the robot. Using the compensation of motion of the waist, the robot can realize dynamic motion. This paper also presents the concepts of the valid stable region and stable degree for the wheel-based robot.

Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot

The invention relates to a method for remotely controlling rotor to play football based on internet, wherein it comprises the competition site and the operation site connected via internet; the competition site uses camera to collect the competition information, via the video computer and control computer to transmit the on-site video image and the competition information data to the operator, and receive the command of operator, to control the competition; the operation site via video receiver/sender receives the video information, via the network forecast module, to receive the competition information and detect the network condition, while the forecast result via image rebuilt module is displayed to the operator; the operator via the operation command published by the feedback information with operation rod, and the forecast result, uses the command transform module to transform it into the speeds of left and right wheels of robot, to be transmitted to the control computer. The invention can combine the remote operation technique with the robot football game.

Method for operating robot football game remotely based on internet

A lot of new Internet based applications have been introduced in the past yeas with the quickly development of the Internet. One of the most interesting applications is Internet- based teleoperation, where the Internet is used as a bridge between the operators and machines. The operators send commands and receive visual and haptic information via the Internet. In this paper the term supermedia is introduced to capture the notion of all this information streams. The supermedia transmission in the Internet comes with several problems: delay, lost packets and disconnection. These limitations may cause many problems such as instability and desynchronization. This paper presents a system using an event-based method to avoid these problems and realize real-time supermedia transmission in the Internet.

http://ir.sia.cn//bitstream/173321/8452/2/Real-time%20supermedia%20transmission%20in%20Internet%20.pdf

Real-time supennedia transmission in internet

In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods

Dalong Tan

Papers

Research on the Kinematics and Dynamics of a 7-DOF Arm of Humanoid Robot

Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot

Method for operating robot football game remotely based on internet

Real-time supennedia transmission in internet

Vision-based formation control of mobile robots with relative motion states