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ICRA
2005
IEEE

Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics

10 years 3 months ago
Motion Emergency of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics
— The human motions are generated through the interaction between the body and its environments. The information processing system defines the current motion using the signal feedback of the body state and environments. The motion pattern dose not exits a priori but emerges as the result of the entrainment phenomenon for the dynamics of the information processing, the human body and its environments. In this paper, based on the dynamics-based information processing system, we propose the motion emergency system design method for a humanoid robot designing a dynamical system that has an attractor considering the robot body dynamics. From the control engineering point of view, the proposed method designs a controller that stabilizes the robot to an equilibrium trajectory.
Masafumi Okada, Kenta Osato, Yoshihiko Nakamura
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Masafumi Okada, Kenta Osato, Yoshihiko Nakamura
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