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Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot
Wan MH(宛敏红); Zhang HW(张会文); Fu ML(付明亮); Zhou WJ(周维佳)
Department空间自动化技术研究室
Conference Name2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC 2016)
Conference DateAugust 27-28, 2016
Conference PlaceHangzhou, China
Source Publication2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages156-159
Indexed ByEI ; CPCI(ISTP)
EI Accession number20170403289023
WOS IDWOS:000391330900037
Contribution Rank1
ISSN2157-8982
ISBN978-1-5090-0769-1
KeywordHumanoid Robot Visual Target Tracking Redundant Mechanism Virtual Link Damped Factor
AbstractVisual target tracking is one of the main functions that interacting with the environment for the humanoid robot, and it is also an important embodiment of anthropomorphism and human likeness. In order to achieve dexterous and precise visual target tracking task, a kind of humanoid robot head mechanism which is similar to the human head is presented. By using of the modeling method of virtual link, the control task of robot gaze at target is converted to the inverse kinematic solution of a 4DOF RRRP manipulator, and the solution is obtained based on the damped least-squares method. In order to make the manipulator avoid the singularity and joint limit synchronously, a new method for calculating the damping factor is proposed. On the basis of the traditional damping factor which is mainly used to hinder the manipulator close to the singular configuration, the damping factor that hinders the manipulator close to the joint limit is also proposed, and the total damping factor is composed of the two parts. Simulation and analysis show that the redundant visual tracking mechanism can track a moving target stably and precisely.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19523
Collection空间自动化技术研究室
Corresponding AuthorWan MH(宛敏红)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Wan MH,Zhang HW,Fu ML,et al. Motion Control Strategy for Redundant Visual Tracking Mechanism of a Humanoid Robot[C]. New York:IEEE,2016:156-159.
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