抄録
This paper addresses the problem of articulated figure positioning using dynamic and kinematic constraints, concentrating on balancing when there is a significant force interaction with the environment. The dynamic and kinematic constraints are satisfied simultaneously allowing an end-effector to move to a desired position and apply a certain amount of force and torque within the physical limits of the figure. The balance of the figure is controlled using a new technique based on the precise manipulation of joint torques, which reduces the torque of the system considering all the joints in proportion to their influence on the balance. The proposed algorithm can be easily embedded in inverse kinematics based systems since it has the same order of time complexity and a similar structure. The algorithm can also be used to correct a kinematic based posture to make it dynamically sound and robust. If there are multiple supports, the supporting ratio can be shifted smoothly and continuously between supporting sites even if a considerable force interaction exists with the environment.
