GVU Technical Report Number:
GIT-GVU-00-25
Title:
Planning of joint trajectories for humanoid robots using B-spline wavelets
Authors:
A. Ude
C.G. Atkeson
M. Riley
Abstract:
The formulation and optimization of joint trajectories for humanoid
robots is quite different form this same task for standard robots because
of the complexity of the humanoid robots' kinematics. In this paper we
exploit the similarity between the movements of a humanoid robot and
human movements to generate joint trajectories for such robots. In
particular, we show how to transform human motion information captured by
an optical tracking device into a high dimensional trajectory of a
humanoid robot. We utilize B-spline wavelets to efficiently represent the
joint trajectories and to automatically select the density of the basis
functions on the time axis. We applied our method to the task of teaching
a humanoid robot how to make a dance movement.
Keywords:
Humanoid robot, wavelet, trajectory generation, robot dance
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