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Development of Humanoid Robot Trajectories Using Polynomial Spline Wavelet Transform

Jan T. Bialasiewicz
Polish-Japanese Institute for Information Technology, Warsaw, Poland
University of Colorado Denver, Department of Electrical Engineering, Denver, USA
Abstract—In this paper, we are concerned with human movements modeling, so that the joint space trajectories, developed for a large number of humanoid robot revolute joints, would replicate movementsof humans.  In this development, we consider robot velocity and acceleration constraints. B-spline wavelets are used to represent joint space trajectories. However, due to humanoid robot constraints we have to limit the time-frequency domain of our model. In other words, in the spline wavelet representation of our model, we cannot include high frequency wavelet transform details. This results in a loss of integrity of robot trajectory model. We propose to measure model quality by the ratio of the energy included in the trajectory model to the total energy of the unconstraint trajectory. We call this ratio Trajectory Integrity Index (TII).

Index Terms—humanoid robottrajectory, B-spline polynomial wavelets, multiresolution, trajectory constraints, Trajectory Integrity Index, wavelet scalogram

Cite: Jan T. Bialasiewicz, "Development of Humanoid Robot Trajectories Using Polynomial Spline Wavelet Transform," Jounal of Automation and Control Engineering, Vol. 2, No. 4, pp. 327-331, December, 2014. doi: 10.12720/joace.2.4.327-331
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