In this paper the Null-Space based Behavioural control is used to coordinate the motion of the highly redundant kinematic structure of a humanoid robot. A set of elementary behaviours is considered, which are differently composed in nature and priority so as to accomplish some typical basic actions. A sequence of actions is then considered in a simulation case study to execute a grasp-move-and-release mission.
A Null-Space based Behavioural control approach to coordinated motion of a humanoid robot
CHIAVERINI, Stefano;MEDDAHI, Amal
2015-01-01
Abstract
In this paper the Null-Space based Behavioural control is used to coordinate the motion of the highly redundant kinematic structure of a humanoid robot. A set of elementary behaviours is considered, which are differently composed in nature and priority so as to accomplish some typical basic actions. A sequence of actions is then considered in a simulation case study to execute a grasp-move-and-release mission.File in questo prodotto:
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