The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS
Abstract
With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. Our hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multiple-task control framework. The operational space formulation 10 provides dynamic models at the task level and structures for decoupled task and posture control.13 This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task. Achieving higher performance of posture objectives requires precise models of their dynamic behaviors. In this paper we complete the picture of task descriptions and whole-body dynamic control by establishing models of the dynamic behavior of secondary task objectives within the posture space. Using these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.
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Cites
RRT-connect: An efficient approach to single-query path planning
Kuffner, J. J., & LaValle, S. M. (2000) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844730 · Cited by 3,555
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Self-citationThe development of Honda humanoid robot
Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.677288 · Cited by 1,922
The intelligent ASIMO: system overview and integration
Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., & Fujimura, K. (2003) · IEEE/RSJ International Conference on Intelligent Robots and System · doi:10.1109/irds.2002.1041641 · Cited by 1,355
Movement imitation with nonlinear dynamical systems in humanoid robots
Ijspeert, A. J., Nakanishi, J., & Schaal, S. (2003) · Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) · doi:10.1109/robot.2002.1014739 · Cited by 840
Inertial Properties in Robotic Manipulation: An Object-Level Framework
Khatib, O. (1995) · The International Journal of Robotics Research · doi:10.1177/027836499501400103 · Cited by 542
Self-citationA Theory of Generalized Inverses Applied to Robotics
Doty, K. L., Melchiorri, C., & Bonivento, C. (1993) · The International Journal of Robotics Research · doi:10.1177/027836499301200101 · Cited by 304
On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds
Burdick, J. W. (2003) · Proceedings, 1989 International Conference on Robotics and Automation · doi:10.1109/robot.1989.99999 · Cited by 235
Coordination and decentralized cooperation of multiple mobile manipulators
Khatib, Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., & Casal, A. (1996) · Journal of Robotic Systems · doi:10.1002/(sici)1097-4563(199611)13:11<755::aid-rob6>3.0.co;2-u · Cited by 212
Robots in Human Environments: Basic Autonomous Capabilities
Khatib, O., Yokoi, K., Brock, O., Chang, K., & Casal, A. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922066501 · Cited by 192
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Cited by
Design, fabrication and control of soft robots
Rus, D., & Tolley, M. T. (2015) · Nature · doi:10.1038/nature14543 · Cited by 5,825
Metadata
- Authors
- KHATIB, O., SENTIS, L., PARK, J., & WARREN, J.
- Venue
- International Journal of Humanoid Robotics
- Publisher
- World Scientific Pub Co Pte Ltd
- Published
- 2004-03
- Volume
- 01
- Issue
- 01
- Pages
- 29-43
- ISSN
- 0219-8436 (ISSN-L)
- 1793-6942
- OpenAlex
- W2169564405
- Cited by
- 293
- References
- 10
- FWCI
- 10.09
- Type
- journal article
- Language
- en
- Open access
- closed
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- KHATIB, O., SENTIS, L., PARK, J., & WARREN, J. (2004). WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS. International Journal of Humanoid Robotics. https://doi.org/10.1142/s0219843604000058
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
