A Walking Motion Imitation Framework of a Humanoid Robot by Human Walking Recognition from IMU Motion Data

Title
A Walking Motion Imitation Framework of a Humanoid Robot by Human Walking Recognition from IMU Motion Data
Authors
김성균홍석민김도익
Keywords
humanoid; motion capture; walking; real-time; motion imitation
Issue Date
2009-12
Publisher
International Conference on Humanoid Robots
Citation
, 343-348
Abstract
Teleoperation of humanoid robots, which is one of good methods of humanoid utilization, has difficulties in locomotion with self-balancing. In this paper, we propose a framework of walking imitation between human and a humanoid robot. Using inertial measurement unit (IMU), human’s walking motions are recognized, and used as humanoid robot control inputs for on-line walking imitation. Appropriate IMU feature data for walking recognition are investigated, and walking recognition method based on supporting foot detection and stance estimation is suggested. A humanoid robot is modeled as an inverted pendulum for on-line walking control. For validation, experiments were conducted using Mahru-R, a humanoid robot developed in KIST.
URI
http://pubs.kist.re.kr/handle/201004/41718
Appears in Collections:
KIST Publication > Conference Paper
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