tailieunhanh - Robot Localization and Map Building Part 7

Tham khảo tài liệu 'robot localization and map building part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 204 Robot Localization and Map Building 7. Conclusion Research on humanoid robots in areas related with human-robot interaction has rapidly increased recently especially for application to human living environments and emergency sites. It is apparent that the environments to be shared by humanoid robots are normally dedicated to humans. In this chapter we presented analysis results of optimum biped trajectory planning for humanoid robot navigation to minimize possibility of collision during operation in unseen environment. In this analysis we utilized 21-dof biped humanoid robot Bonten-Maru II. In this chapter at first we analyzed the joint trajectory generation in humanoid robot legs to define efficient gait pattern. We present kinematical solutions and optimum gait trajectory patterns for humanoid robot legs. Next we performed analysis to define efficient walking gait locomotion by improvement of walking speed and travel distance without reducing reduction-ratio at joint-motor system. Next present analyses of collision checking using the robot arms to perform searching touching and grasping motions in order to recognize its surrounding condition. The presented biped trajectory analysis and planning improved performance of the navigation system. This was proved by simulation and experimental results applying biped humanoid robot Bonten-Maru II during performing biped walk side-step and yawing motions. Furthermore analysis of efficient gait trajectory and pattern was presented in this chapter. The analysis results of the gait trajectory generation proposed an efficient gait pattern for the biped robot. Meanwhile regarding to speed-up walk analysis simulation results based on humanoid robot Bonten-Maru II parameters revealed that walking speed was improved by applying low duty-ratio at suitable step length and hip-joint height whereby the walking speed increased about two times compared to normal condition. Moreover real-time experiments utilizing real biped .