Kim, S.-K. Hong, S. Kim, D. 2024-01-12T07:22:45Z 2024-01-12T07:22:45Z 2022-03-07 2009-12 0000-0000 https://pubs.kist.re.kr/handle/201004/80889 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. ？2009 IEEE. English IEEE A walking motion imitation framework of a humanoid robot by human walking recognition from IMU motion data Conference 10.1109/ICHR.2009.5379552 1 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, pp.343 - 348 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 343 348 US Paris 2009-12-07 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 2-s2.0-77950553723