One Approach for On-Line Generation of Motion of Humanoid Robot using Primitives

Conference Paper

B. Borovac; M. Raković; M. Nikolić

ETRAN - Konferencija za elektroniku, telekomunikacije, računarstvo, automatiku i nuklearnu tehniku, Banja Vrućica, Bosna and Herzegovina, June 6, 2011-June 9, 2011


pp. 1-4


In this work the goal is to demonstrate the possibility of using primitives for on-line generation of complex movements that ensure motion of bipedal humanoid robots in unstructured environment where on-line generation of motion is required. Primitives represent simple movements that are either reflex or learned. Each primitive has its parameters and constraints that are determined on the basis of the movements capable of performing by a human. The set of all primitives represents the base from which primitives are selected and combined for the purpose of performing the corresponding complex movement.