STS motion control using humanoid robot

• Main Authors: Bahar, Mohd Bazli, Miskon, Muhammad Fahmi, Abu Bakar, Norazhar, Ali @ Ibrahim, Fariz, Shukor, Ahmad Zaki
• Format: Article
• Language: English
• Published: Maxwell Scientific Publications 2014
• Subjects: T Technology (General); TJ Mechanical engineering and machinery
• Online Access: http://eprints.utem.edu.my/id/eprint/19066/2/RJAS2014full.pdf; http://eprints.utem.edu.my/id/eprint/19066/; http://www.maxwellsci.com/jp/abstract.php?jid=RJASET&no=449&abs=13

This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion...