2족 보행로봇을 위한 잉여 궤적 생성

Redundancy Trajectory Generation for Biped Robot Manipulators

Human-like biped robot is a representative multi-links manipulator and undoubted redundancy system. However many researchers separate biped robot into each limb and analyze the members individually for the convenience analysis. This approach is not desirable for natural trajectory generation and energy optimization. This paper proposes the analysis method considering both legs together and the weighted pseudoinverse optimizing energy consumption.