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.
引用
收藏
页码：853 / 858
页数：6
相关论文
共 50 条
  • [31] OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN
    Rocchi, Alessio
    Hoffman, Enrico Mingo
    Caldwell, Darwin G.
    Tsagarakis, Nikos G.
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 6248 - 6253
  • [32] Utilization of movement prioritization for whole-body humanoid robot trajectory generation
    Naksuk, N
    Lee, CSG
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 1079 - 1084
  • [33] Whole-Body Active Compliance Control for Humanoid Robots with Robot Skin
    Dean-Leon, Emmanuel
    Guadarrama-Olvera, J. Rogelio
    Bergner, Florian
    Cheng, Gordon
    2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 5404 - 5410
  • [34] Whole-body cooperative balancing of humanoid robot usine COG jacobian
    Sugihara, T
    Nakamura, Y
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2002, : 2575 - 2580
  • [35] Whole-Body Robot Motion Learning by Kinesthetic Teaching
    Lin, Hsien-I
    Chen, Yung-Yao
    Huang, Yu-Che
    INTELLIGENT AUTONOMOUS SYSTEMS 13, 2016, 302 : 1467 - 1479
  • [36] Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
    Colin, Guillermo
    Sim, Youngwoo
    Ramos, Joao
    2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023), 2023, : 12191 - 12197
  • [37] Brain-machine interfacing control of whole-body humanoid motion
    Bouyarmane, Karim
    Valliant, Joris
    Sugimoto, Norikazu
    Keith, Francois
    Furukawal, Jun-ichiro
    Morimoto, Jun
    FRONTIERS IN SYSTEMS NEUROSCIENCE, 2014, 8
  • [38] LQP-Based Controller Design for Humanoid Whole-Body Motion
    Salini, Joseph
    Barthelemy, Sebastien
    Bidaud, Philippe
    ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE, 2010, : 177 - 184
  • [39] ON REAL-TIME WHOLE-BODY HUMAN TO HUMANOID MOTION TRANSFER
    Montecillo-Puente, Francisco-Javier
    Sreenivasa, Manish N.
    Laumond, Jean-Paul
    ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2010, : 22 - 31
  • [40] Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
    Ficht, Grzegorz
    Behnke, Sven
    2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 6597 - 6603
12345