Real-time Motion Imitation Control of a Humanoid Robot with Non-real-time Motion Data

Title
Real-time Motion Imitation Control of a Humanoid Robot with Non-real-time Motion Data
Authors
김성균나성권김도익유범재오상록
Keywords
humanoid arm; non-real time motion data; on-line motion imitation; virtual spring-damper system; torque-position transformation
Issue Date
2009-10
Publisher
The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)
Citation
, 269-272
Abstract
In this paper, we propose an on-line humanhumanoid robot motion imitation control method using non-real-time human motion data from inertial measurement units or infra-red optical sensors. A virtual spring-damper system is applied to prevent an abrupt motion of robot joint, although the input motion data are non-real-time. Torque control method for position-control motor system is also provided. As a validation of the proposed method, an experiment was conducted with Mahru-III, a humanoid robot developed in KIST, and the result is discussed.
URI
http://pubs.kist.re.kr/handle/201004/36433
Appears in Collections:
KIST Publication > Conference Paper
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