Characteristic Studies on Imitation Control for Static Walking of Biped Robot

نویسندگان

  • Yifeng CUI
  • Hee Jung BYUN
  • Su Goog SHON
چکیده

The purpose of this paper is to present a new kind of imitation control architecture for a biped robot. A human operator can interact with the robot and control it to walk. The robot is built based on the skeletal structure of humans. Partial joints are controlled by the operator wearing motion sensors in the body and other joints controlled by the controller. This paper describes the difficulties of balance control due to the random trajectory data by the operator and gives a static walking control method to keep the posture of the robot stable in imitation walking. Streszczenie. W artykule opisano strukturę sterowania metodą naśladowczą dla robota dwunożnego, zbudowanego na podstawie struktury ludzkiego szkieletu. Algorytm umożliwia kontrolę robota, w tym ruchów związanych z chodzeniem i utrzymanie stabilnej pozycji. Przedstawiono problemy związane z balansem. (Badania charakterystyki sterowania metodą naśladowczą dla dwunożnego, chodzącego robota)

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تاریخ انتشار 2013