State Classification for Humanoid Robots
In this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. The state classification plays a key role for the first sub-problem. We propose several basic states, including lying, sitting, standing an...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2008-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320902749040 |
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| _version_ | 1832550484245741568 |
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| author | Jialun Yang Feng Gao Lifeng Shi Zhenlin Jin |
| author_facet | Jialun Yang Feng Gao Lifeng Shi Zhenlin Jin |
| author_sort | Jialun Yang |
| collection | DOAJ |
| description | In this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. The state classification plays a key role for the first sub-problem. We propose several basic states, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. Each basic state is classified further from the topological point of view. Furthermore, generalised function (GF) set theory is applied with the aim of analysing the kinematic characteristics of the end effectors for each state, and meaningful names are assigned for each state. Finally a topological state-planning example is given to show the effectiveness of this methodology. The results show that the large amounts of states can be described using assigned names, which leads to systematic and universal description of the states for humanoid robots. |
| format | Article |
| id | doaj-art-4f1f05451b45452fa24c12ce7aeb732a |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2008-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-4f1f05451b45452fa24c12ce7aeb732a2025-02-03T06:06:41ZengWileyApplied Bionics and Biomechanics1176-23221754-21032008-01-015416717410.1080/11762320902749040State Classification for Humanoid RobotsJialun Yang0Feng Gao1Lifeng Shi2Zhenlin Jin3State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, ChinaState Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, ChinaState Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, ChinaRobotic Research Center, Yanshan University, Qinhuangdao, 066004, ChinaIn this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. The state classification plays a key role for the first sub-problem. We propose several basic states, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. Each basic state is classified further from the topological point of view. Furthermore, generalised function (GF) set theory is applied with the aim of analysing the kinematic characteristics of the end effectors for each state, and meaningful names are assigned for each state. Finally a topological state-planning example is given to show the effectiveness of this methodology. The results show that the large amounts of states can be described using assigned names, which leads to systematic and universal description of the states for humanoid robots.http://dx.doi.org/10.1080/11762320902749040 |
| spellingShingle | Jialun Yang Feng Gao Lifeng Shi Zhenlin Jin State Classification for Humanoid Robots Applied Bionics and Biomechanics |
| title | State Classification for Humanoid Robots |
| title_full | State Classification for Humanoid Robots |
| title_fullStr | State Classification for Humanoid Robots |
| title_full_unstemmed | State Classification for Humanoid Robots |
| title_short | State Classification for Humanoid Robots |
| title_sort | state classification for humanoid robots |
| url | http://dx.doi.org/10.1080/11762320902749040 |
| work_keys_str_mv | AT jialunyang stateclassificationforhumanoidrobots AT fenggao stateclassificationforhumanoidrobots AT lifengshi stateclassificationforhumanoidrobots AT zhenlinjin stateclassificationforhumanoidrobots |