Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots
The gesture-determined-dynamic function (GDDF) offers an effective way to handle the control problems of humanoid robots. Specifically, GDDF is utilized to constrain the movements of dual arms of humanoid robots and steer specific gestures to conduct demanding tasks under certain conditions. However...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2022
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| Online Access: | https://hdl.handle.net/10356/153719 |
| _version_ | 1811679358153129984 |
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| author | Zhang, Zhijun Kong, Lingdong Niu, Yaru Liang, Ziang |
| author2 | School of Computer Science and Engineering |
| author_facet | School of Computer Science and Engineering Zhang, Zhijun Kong, Lingdong Niu, Yaru Liang, Ziang |
| author_sort | Zhang, Zhijun |
| collection | NTU |
| description | The gesture-determined-dynamic function (GDDF) offers an effective way to handle the control problems of humanoid robots. Specifically, GDDF is utilized to constrain the movements of dual arms of humanoid robots and steer specific gestures to conduct demanding tasks under certain conditions. However, there is still a deficiency in this scheme. Through experiments, we found that the joints of the dual arms, which can be regarded as the redundant manipulators, could exceed their limits slightly at the joint angle level. The performance straightly depends on the parameters designed beforehand for the GDDF, which causes a lack of adaptability to the practical applications of this method. In this paper, a modified scheme of GDDF with consideration of margins (MGDDF) is proposed. This MGDDF scheme is based on quadratic programming (QP) framework, which is widely applied to solving the redundancy resolution problems of robot arms. Moreover, three margins are introduced in the proposed MGDDF scheme to avoid joint limits. With consideration of these margins, the joints of manipulators of the humanoid robots will not exceed their limits, and the potential damages which might be caused by exceeding limits will be completely avoided. Computer simulations conducted on MATLAB further verify the feasibility and superiority of the proposed MGDDF scheme. |
| first_indexed | 2024-10-01T03:07:53Z |
| format | Journal Article |
| id | ntu-10356/153719 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:07:53Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1537192022-01-17T08:19:23Z Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots Zhang, Zhijun Kong, Lingdong Niu, Yaru Liang, Ziang School of Computer Science and Engineering Engineering::Computer science and engineering Humanoid Robots Motion Planning The gesture-determined-dynamic function (GDDF) offers an effective way to handle the control problems of humanoid robots. Specifically, GDDF is utilized to constrain the movements of dual arms of humanoid robots and steer specific gestures to conduct demanding tasks under certain conditions. However, there is still a deficiency in this scheme. Through experiments, we found that the joints of the dual arms, which can be regarded as the redundant manipulators, could exceed their limits slightly at the joint angle level. The performance straightly depends on the parameters designed beforehand for the GDDF, which causes a lack of adaptability to the practical applications of this method. In this paper, a modified scheme of GDDF with consideration of margins (MGDDF) is proposed. This MGDDF scheme is based on quadratic programming (QP) framework, which is widely applied to solving the redundancy resolution problems of robot arms. Moreover, three margins are introduced in the proposed MGDDF scheme to avoid joint limits. With consideration of these margins, the joints of manipulators of the humanoid robots will not exceed their limits, and the potential damages which might be caused by exceeding limits will be completely avoided. Computer simulations conducted on MATLAB further verify the feasibility and superiority of the proposed MGDDF scheme. Published version Research supported in part by the National Key Research and Development Program of China under Grant 2017YFB1002505, in part by the National Natural Science Foundation of China under Grant 61976096, Grant 61603142, and Grant 61633010, in part by the Guangdong Foundation for Distinguished Young Scholars under Grant 2017A030306009, in part by the Guangdong Special Support Program under Grant 2017TQ04X475, in part by the Science and Technology Program of Guangzhou under Grant 201707010225, in part by the Fundamental Research Funds for Central Universities under Grant 2017MS049, in part by the Scientific Research Starting Foundation of South China University of Technology, in part by the National Key Basic Research Program of China (973 Program) under Grant 2015CB351703, in part by the Italian Ministry of Education, University and Research under the Project “Department of Excellence LIS4.0—Lightweight and Smart Structures for Industry 4.0,” in part by the Guangdong Key Research and Development Program under Grant 2018B030339001, and in part by Guangdong Natural Science Foundation Research Team Program 1414060000024. 2022-01-17T08:19:22Z 2022-01-17T08:19:22Z 2020 Journal Article Zhang, Z., Kong, L., Niu, Y. & Liang, Z. (2020). Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots. Filomat, 34(15), 5033-5048. https://dx.doi.org/10.2298/FIL2015033Z 0354-5180 https://hdl.handle.net/10356/153719 10.2298/FIL2015033Z 2-s2.0-85103959379 15 34 5033 5048 en Filomat © 2020 The Author(s). Published by Faculty of Sciences and Mathematics, University of Nis, Serbia. This is an open-access article distributed under the terms of the Creative Commons Attribution License. application/pdf |
| spellingShingle | Engineering::Computer science and engineering Humanoid Robots Motion Planning Zhang, Zhijun Kong, Lingdong Niu, Yaru Liang, Ziang Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title | Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title_full | Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title_fullStr | Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title_full_unstemmed | Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title_short | Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots |
| title_sort | modification of gesture determined dynamic function with consideration of margins for motion planning of humanoid robots |
| topic | Engineering::Computer science and engineering Humanoid Robots Motion Planning |
| url | https://hdl.handle.net/10356/153719 |
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