Whole-body Motion Input Method for Bipedal Humanoid Robot with Support Leg Detection

被引：0
|
作者：
Yonekura, Kenta [1 ]
Nakaoka, Shin'ichiro [2 ]
Yokoi, Kazuhito [1 ]
机构：
[1] Univ Tsukuba, Natl Inst Adv Ind Sci & Technol AIST, Tsukuba Cent 2,1-1-1 Umezono, Tsukuba, Ibaraki, Japan
[2] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki, Japan
来源：
2012 12TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We developed a key pose input system using a Kinect (TM) sensor for Choreonoid, an integrated software that helps to generate humanoid robot motion easily. The system captures a real human pose and calculates the joint angles of a humanoid robot to generate its key pose. The proposed method is able to detect the support leg automatically and calculate a set of joint angles for the humanoid robot which satisfies the support condition.
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页码：853 / 858
页数：6
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