{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/32964"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/32964","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Design of human-like posture prediction for inverse kinematic posture control of a humanoid robot","abstract":"A method and system has been developed to solve the kinematic redundancy for a humanoid redundant manipulator based on forward kinematic equation and the optimization of human-like constraints. The Multiple Objective Optimization (MOO) is preformed using a Genetic Algorithms (GA) and implemented using the Genetic and Evolutionary Algorithm Matlab Toolbox. The designed system is illustrated on a simple redundant 3 degree of freedom (dof) manipulator and is set up for a more complicated redundant 7 dof manipulator. The 7 dof manipulator is modeled from the Stan Winston studio's Leonardo, an 61 dof expressive humanoid robot. It has been found that the inverse kinematic solution to a 3dof model arm converged within 1% error of the solution within .05 mins processor time using the discomfort human-like constraint in 2d space. Similarly, the inverse kinematic solution to a 7 dof model arm consisting of Leonardo's right arm geometry was found to converge within 1% error within .20 mins processor time using the discomfort human-like constraint in 3D space. The full kinematic model of Leonardo is developed and future efficiency optimizations are posed to move towards the real-time motion control of a redundant humanoid robot by way of human-like posture prediction.","abstract_html":"A method and system has been developed to solve the kinematic redundancy for a humanoid redundant manipulator based on forward kinematic equation and the optimization of human-like constraints. The Multiple Objective Optimization (MOO) is preformed using a Genetic Algorithms (GA) and implemented using the Genetic and Evolutionary Algorithm Matlab Toolbox. The designed system is illustrated on a simple redundant 3 degree of freedom (dof) manipulator and is set up for a more complicated redundant 7 dof manipulator. The 7 dof manipulator is modeled from the Stan Winston studio's Leonardo, an 61 dof expressive humanoid robot. It has been found that the inverse kinematic solution to a 3dof model arm converged within 1% error of the solution within .05 mins processor time using the discomfort human-like constraint in 2d space. Similarly, the inverse kinematic solution to a 7 dof model arm consisting of Leonardo's right arm geometry was found to converge within 1% error within .20 mins processor time using the discomfort human-like constraint in 3D space. The full kinematic model of Leonardo is developed and future efficiency optimizations are posed to move towards the real-time motion control of a redundant humanoid robot by way of human-like posture prediction.","abstract_has_math":false,"creators":["Thomann, Derik (Derik S.)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Cynthia Breazeal."],"committee_chairs":[],"committee_members":[],"year":2005,"date_issued":"2005","date_published":"2005","updated_at":"2026-07-22T22:20:56Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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