Abstract
This paper proposes a real-time trajectory generation algorithm for both arms of a humanoid robot. Since it is hard to find a closed form of inverse kinematics for each arm of seven degrees of freedom, the damped least-squares method is employed to obtain the inverse kinematics. The trajectory is generated by the minimum-jerk method to maximize the position accuracy. Considering the performance in computation time, a software SD/FAST is used to find a Jacobian matrix of the arm. Computer simulation was performed to verify the effectiveness of the proposed algorithm using a Webot simulator for the upper body of Mybot developed in the RIT Lab., KAIST. The results show that the proposed algorithm generates trajectory in real-time and it is robust to singularity.
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© 2013 Springer-Verlag Berlin Heidelberg
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Jung, CY., Kim, JH. (2013). Real-Time Trajectory Generation for Both Arms of a Humanoid Robot. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_37
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DOI: https://doi.org/10.1007/978-3-642-37374-9_37
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37373-2
Online ISBN: 978-3-642-37374-9
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