Characteristic Studies on Imitation Control for Static Walking of Biped Robot

• Autorzy: Cui Y. , Byun H. J. , Shon S. G.

Warianty tytułu

PL

Badania charakterystyki sterowania metodą naśladowczą dla dwunożnego, chodzącego robota

• Języki publikacji: EN

Abstrakty

EN

The purpose of this paper is to present a new kind of imitation control architecture for a biped robot. A human operator can interact with the robot and control it to walk. The robot is built based on the skeletal structure of humans. Partial joints are controlled by the operator wearing motion sensors in the body and other joints controlled by the controller. This paper describes the difficulties of balance control due to the random trajectory data by the operator and gives a static walking control method to keep the posture of the robot stable in imitation walking.

PL

W artykule opisano strukturę sterowania metodą naśladowczą dla robota dwunożnego, zbudowanego na podstawie struktury ludzkiego szkieletu. Algorytm umożliwia kontrolę robota, w tym ruchów związanych z chodzeniem i utrzymanie stabilnej pozycji. Przedstawiono problemy związane z balansem.

Słowa kluczowe

EN

biped robot; static walking robot; imitation models

PL

robot dwunożny; chodzenie; statyka; sterowanie metodą naśladowczą

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2013
• Tom: R. 89, nr 5
• Strony: 26--29
• Opis fizyczny: Bibliogr. 10 poz., rys., tab., wykr.

Twórcy

autor

Cui Y.

• Linyi University
• University of Suwon

autor

Byun H. J.

• University of Suwon

autor

Shon S. G.

• University of Suwon

Bibliografia

• [1] Keio University, Walky project, Graduate School of Media design, Nov. 2009.
• [2] Andre Senior and Sabri Tosunoglu, “Design of a Biped Robot”, Florida Conference on Recent Advances in Robotics, FCRAR, 2006.
• [3] Jong Hoon Ahnn, “The robot control using the wireless communication and the serial communication”, Master Degree, Cornell University, 2007.
• [4] T. Liu, H. Utsuomiya, Y. Inoue, and K. Shibata, “Synchronous Imitation Control for Biped Robot Based on Wearable Human Motion Analysis System, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, France, Sep. 22-26, 2008.
• [5] T. Liu, Y. Inoue, K. Shibata, and H. Morioka, “Development of Wearable Sensor Combinations for Human Lower Extremity Motion Analysis”, 2006 IEEE International Conference on Robots and Automation, Florida, May. 2006.
• [6] Ude, A. etal. “Automatic generation of kinematic models for the conversion of human motion capture data into humanoid robot motion”, In Proc. First IEEE-RAS Int. Conf. Humanoid Robots, 2000
• [7] http://carlpisaturo.com/index.html
• [8] R. Chalodhorn, etal, “Learning to Walk through Imitation”, Twentieth International Joint Conference on Artificial Intelligence, India, Jan. 6-12, 2007
• [9] Y. F. Cui, S. G. Shon, H. J. Byun, “The Kinematics Research and Control of Quadruped Robot Based on Scilab”, International Journal of Digital Content Technology and its Applications, 6 (2012), no 19, 113-120
• [10] Peternelj, Joze and Batista, Milan, “ The Falling Time of an Inverted Plane Pendulum”, http://arxiv.org/abs/physics/0607080.