A Study of Motion Editing and Humanoid Motion Balance

• Main Authors: Cheng-HueiLin, 林承輝
• Other Authors: Ming-June Tsai
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/vgpag7

碩士 === 國立成功大學 === 機械工程學系 === 105 === We use software “iBMPS Post” to develop the following technique. First, the functions of motion editing include segmentation and connection. For connection, ScLERP was used to achieve continuity of motion. Segmentation made motion processing more convenient. Second, we integrated inverse dynamics method developed before. The whole body force and zero moment point (ZMP) computed by whole body inverse dynamics (WBID) and center of pressure (COP) were used to distribute foot reactions. We input foot reactions into full body inverse dynamics (FBID). In the jumping experiment, we verified the rationality of inverse dynamics method. Last, we developed the strategy for motion balance, including balance checking, external moment calculation, joint torque distribution, forward dynamics and kinematics integration, and tracking process after regaining balance. We test the strategy in the robot walking motion.