Optimization of Dynamic Sit-to-Stand Trajectories to Assess Whole-Body Motion Performance of the Humanoid Robot REEM-C.

ABSTRACT: To enable the application of humanoid robots outside of laboratory environments, the biped must meet certain requirements. These include, in particular, coping with dynamic motions such as climbing stairs or ramps or walking over irregular terrain. Sit-to-stand transitions also belong to this category. In addition to their actual application such as getting out of vehicles or standing up after sitting, for example, at a table, these motions also provide benefits in terms of performance assessment. Therefore, they have long been used as a sports medical and geriatric assessment for humans. Here, we develop optimized sit-to-stand trajectories using optimal control, which are characterized by their dynamic and humanlike nature. We implement these motions on the humanoid robot REEM-C. Based on

SUBMITTER: Aller F 

PROVIDER: S-EPMC9273909 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature