Controlling humanoid robots in topology coordinates

E.S.L. Ho, T. Komura, S. Ramamoorthy, S. Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Citations (Scopus)


This paper presents an approach to the control of humanoid robot motion, e.g., holding another robot or tangled interactions involving multiple limbs, in a space defined by ‘topology coordinates’. The constraints of tangling can be linearized at every frame of motion synthesis, and can be used together with constraints such as defined by the Zero Moment Point, Center of Mass, inverse kinematics and angular momentum for computing the postures by a linear programming procedure. We demonstrate the utility of this approach using the simulator for the Nao humanoid robot. We show that this approach enables us to synthesize complex motion, such as tangling, very efficiently.
Original languageEnglish
Title of host publication2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages178 -182
Number of pages5
ISBN (Electronic)9781424466764
ISBN (Print)9781424466740
Publication statusPublished - 3 Dec 2010


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