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2008
IEEE

Synchronous imitation control for biped robot based on wearable human motion analysis system

10 years 4 months ago
Synchronous imitation control for biped robot based on wearable human motion analysis system
— To achieve accurate and efficient interaction with humans, robot training is indispensable to make robot cooperate with different host. We are focusing on development of a human motion analysis system to real-time measure body segment orientations. Imitation control was applied on a biped robot based on measurements of the developed wearable sensor system. Experimental study was implemented to verify the synchronous imitation control method proposed for the biped robot, and verification results proved the feasibility of the proposed control method. Through comparing results obtained from direct imitation control method and improved method based on training algorithm considering the personal motion pattern, we found that the imitation control accuracy was markedly improved, and the three-axial average errors of x- yand z- moving displacements related to leg length were 12%, 8% and 4% respectively.
Tao Liu, H. Utsunomiya, Yoshio Inoue, Kyoko Shibat
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Tao Liu, H. Utsunomiya, Yoshio Inoue, Kyoko Shibata
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