- 著者
-
梶田 秀司
金広 文男
金子 健二
藤原 清司
原田 研介
横井 一仁
比留川 博久
- 出版者
- 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.22, no.6, pp.772-779, 2004-09-15 (Released:2010-08-25)
- 参考文献数
- 23
- 被引用文献数
-
1
2
We introduce a method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values. First, we derive a linear equation which gives the total momentum of a robot from its physical parameters, the base link speed and the joint speeds. Constraints between the legs and the environment are also considered. The whole body motion is calculated from a given momentum reference by using a pseudoinverse of the inertia matrix. As examples, we generated kicking and walking motions and tested on an actual humanoid robot HRP-2. This method, the Resolved Momentum Control, gives us a unified framework to generate various maneuver of humanoid robots.