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Whole-Body Torques for Generating Complex Movements in Humans and Humanoids

Saab, Layale and Mansard, Nicolas and Souères, Philippe and Fourquet, Jean-Yves and Sreenivasa, Manish and Nakamura, Yoshihiko Whole-Body Torques for Generating Complex Movements in Humans and Humanoids. (2012) In: 10th International IFAC Symposium on Robot Control (SYROCO'12), 5-7 Sept 2012, Dubrovnik, Croatia .

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Official URL: http://dx.doi.org/10.3182/20120905-3-HR-2030.00177

Abstract

This paper considers the problem of identifying the control torques associated with the generation of complex movements in an anthropomorphic system. We present a generic motion generation scheme for humanoid robots. Then we use the torques estimated from human motion capture and force sensor measurements, to compare with similar movements simulated on a humanoid robot. The general features of movement during a sequence of reaching tasks are analyzed. In particular we compare kinematics-based and dynamics-based movements. Finally, the variation of torques at the different joints are compared and discussed.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to Ifac editor. The definitive version is available at http://www.ifac.org/ The original PDF of the article can be found at Thermochimica Ifac website : http://www.ifac-papersonline.net/Detailed/55821.html
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UPS (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Other partners > University of Tokyo (JAPAN)
Laboratory name:
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Deposited By: J-Y. FOURQUET
Deposited On:27 Feb 2013 14:24

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