Skip to main content
main-content

Tipp

Weitere Artikel dieser Ausgabe durch Wischen aufrufen

01.07.2013 | Original Research | Ausgabe 3/2013

Intelligent Service Robotics 3/2013

A multitasking architecture for humanoid robot programming

Zeitschrift:
Intelligent Service Robotics > Ausgabe 3/2013
Autoren:
Jaeyoung Han, Frank Chongwoo Park
Wichtige Hinweise
This research was supported in part by the Center for Advanced Intelligent Manipulation, KIST-CIR, and SNU-IAMD.

Abstract

We propose a hierarchical, three-tiered motion programming architecture for humanoid robots that allows for the prioritized coordination of multiple tasks while taking into account the dynamics and other physics-based constraints that underlie typical humanoid robot tasks. We first introduce a data structure for generic humanoid robots based on a general description of what constitutes a humanoid that is workable and practical from a programming perspective, without overly restricting the diversity of humanoid designs. For the low-level language we develop an extension of Brockett’s motion description language (MDL) that allows for the prioritized coordination of multiple tasks taking into account the dynamics-based requirements of typical humanoid manipulation tasks. The extended multitasking motion description language (MDLm) inherits the advantages of the original MDL, while making use of change of coordinates and the null space control formalism of Sentis and Khatib (Int J Humanoid Robot 2(4):505–518, 2005). We also develop a high-level language consisting of pre-defined motion primitives that constitute a vocabulary for generating more complex free-space motions and object manipulation tasks. These occupational tasks and free-space motions are derived based on methods and principles for measuring human task performance Drumwright (The Task Matrix: a robot-independent framework for programming humanoids. Ph.D dissertation, University of Southern California, 2007), Karger and Bayha (Engineered work measurement. Industrial Press, New York, 1965). The structure of the high level language is also inspired in part by well-established notation for dance choreography Huang and Hudak (Dance: a declarative language for the control of humanoid robots, 2003) Hutchinson (Labanotation or Kinetography Laban: system of analyzing and recording movement. Oxford University Press, New York, 1972). In the resulting architecture, high-level motion primitives and MDLm are integrated in a balanced and consistent manner that allows for flexible and intuitive programming in an efficient manner. A case study is offered to illustrate our architecture.

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

Sie möchten Zugang zu diesem Inhalt erhalten? Dann informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 69.000 Bücher
  • über 500 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Testen Sie jetzt 30 Tage kostenlos.

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 50.000 Bücher
  • über 380 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Umwelt
  • Maschinenbau + Werkstoffe




Testen Sie jetzt 30 Tage kostenlos.

Literatur
Über diesen Artikel