Biped Robot Walking Based on Imitation Control

被引：0
|
作者：
Lee, Sang Hyup [1 ]
Oh, Dong-Pyo [1 ]
Shon, Su Goog [1 ]
机构：
[1] Univ Suwon, Dept Informat & Telcommun, Hwaseong Si, South Korea
来源：
INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014) | 2014年
关键词：
CoP; Imitation control; Biped robot; Humanoid robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Programming a biped robot to walk is a challenging issue in robotics. For a stable gait, prior knowledge of the robot's physical parameters and sophisticated control algorithms are required. This paper proposes architecture and control model for the imitation control. A balance algorithm for unseen trajectory data produced by an operator is designed to control of walking posture based on CoP of biped walking robot. As a result, our experimental results show that the operator's joint motion can be imitated to the robot.
引用
收藏
页码：709 / 715
页数：7
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