Online Footprint Imitation of a Humanoid Robot by Walking Motion Parameterization

Title
Online Footprint Imitation of a Humanoid Robot by Walking Motion Parameterization
Authors
김성균홍석민김도익오용환유범재오상록
Keywords
Walking Motion Imitation; Online Footprint Imitation; Humanoid
Issue Date
2010-10
Publisher
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Citation
, 2692-2697
Abstract
Abstract—There are many difficulties in operating a humanoid which has high degree-of-freedom and instability in balancing its body. In addition, due to the shape of a humanoid, it is expected to have motions like a human. In order to overcome its operational difficulties and to provide a humanlike motion, a teleoperation with the motion imitation is studied in this paper. Specifically, a framework for online generation of a footprint from a human walking motion is proposed. The human walking motions acquired from a motion capture device are parameterized and normalized to give a human independent foot motion. The normalized parameters are restored by a humanoid considering its hardware limit. The restored footprints generate a walking trajectory of a humanoid, which imitates the human walking motion in terms of the footprint. Experiments are conducted with MAHRU-R, a humanoid robot developed in KIST.
URI
http://pubs.kist.re.kr/handle/201004/38379
Appears in Collections:
KIST Publication > Conference Paper
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