SOPC Based Human Biped Motion Tracking Control for Human-Sized Biped Robot

被引：0

作者：

Yu-Te, Su ^{[1
]}

Li, Tzuu-Hseng S. ^{[1
]}

Wen-Chien, Chen ^{[1
]}

Jhen-Jia, Hu ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, AiRobots Lab, Dept Elect Engn, Tainan 70101, Taiwan

来源：

TRENDS IN INTELLIGENT ROBOTICS | 2010年 / 103卷

关键词：

Human-sized biped robot; SOPC; motion control; Kalman filter;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents the implementation of SOPC based human biped motion (HBM) tracking control for human-sized biped robot. aiRobot-HBR1 is a human-size biped robot with 110 cm height, 40 Kg weight, and has a total of 12 degree of freedom (D.O.F). The hardware of aiRobot-HBR1 is designed base on the human body model. According to the human body model, the dynamic model of integrated sensor control module (ISCM) is established. Using the sensor information, HBM can be recognized by the geometric relation. However the sensor information is easily affected by the noise, the discrete Kalman filter is applied in the HBM tracking control. Finally, the feasibility of Kalman filter based HBM tracking control is demonstrated by the experiments.

引用

页码：57 / 64

页数：8

共 50 条

[21] Simulations on Motion Control and Development of Biped Walking Robot
Tani, Keiya
Okamoto, Shingo
Lee, Jae Hoon
Koike, Hisashi
INTERNATIONAL MULTICONFERENCE OF ENGINEERS AND COMPUTER SCIENTIST, IMECS 2012, VOL II, 2012, : 916 - 919
[22] Motion control of biped robot by using artificial muscle
Kabata, Kensaku
Sugisaka, Masanori
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 2364 - +
[23] Neural oscillator for rhythmic motion control of biped robot
Calderon, Carlos A. Acosta
Elara, Mohan Rajesh
Zhou, Changjiu
Hu, Lingyun
Iniya, Bharathiselvan
ICSCN 2008: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING COMMUNICATIONS AND NETWORKING, 2008, : 450 - +
[24] The Control System Structure for the Stable Biped Robot Motion
Gorobtsov, Alexander S.
Ryzhov, E. N.
Polyanina, A. S.
Andreev, Andrey E.
Kohtashvili, N. I.
CREATIVITY IN INTELLIGENT TECHNOLOGIES AND DATA SCIENCE, (CIT&DS), 2017, 754 : 231 - 241
[25] Gait optimization of biped robots based on human motion analysis
Lim, In-sik
Kwon, Ohung
Park, Jong Hyeon
ROBOTICS AND AUTONOMOUS SYSTEMS, 2014, 62 (02) : 229 - 240
[26] Human-in-the-loop control system based on the biped walking-chair robot
Tang Jiaoyan
Zhao Qunfei
Huang Jie
Yang Ruqing
PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 2, 2007, : 132 - +
[27] Control to realize human-like walking of a biped humanoid robot
Lim, H
Yamamoto, Y
Takanishi, A
SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5, 2000, : 3271 - 3276
[28] Object Tracking for Autonomous Biped Robot
Wang, Jong C.
Lin, Yan Ting
Jheng, Huei Teng
Wu, Jyun Sian
Li, Ruei Jhe
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 1782 - 1789
[29] Observer-based control of a biped robot
Lebastard, V
Aoustin, Y
Plestan, F
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2004, : 67 - 72
[30] Design and Control of a Human-Operated Biped Robot for Transportation of Objects
Uchiyama, Naoki
Kurita, Dai
Sano, Shigenori
JOURNAL OF ROBOTICS AND MECHATRONICS, 2014, 26 (06) : 750 - 757

← 1 2 3 4 5 →