Study of similar motion imitation of stepping upstairs for humanoid robot

被引：0
|
作者：
Ke, Wen-De [1 ,2 ]
Peng, Zhi-Ping [1 ]
Chen, Ke [1 ]
Hao, Liang [2 ]
机构：
[1] Guangdong Univ Petrochem Technol, Dept Comp Sci, Maoming 525000, Peoples R China
[2] Harbin Inst Technol, Sch Comp Sci, Harbin 150001, Heilongjiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF COMPUTING SCIENCE AND MATHEMATICS | 2013年 / 4卷 / 02期
关键词：
humanoid robot; hierarchical reinforcement learning; similarity; retargeting;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Aimed at the situation of fitting variable environments in similarity imitation of stepping upstairs for humanoid robot, the process of designing similarity imitation was analysed as well as the rhythm control of key posture in similar locomotion. The simplified locomotion model and retargeting, connection of motion phases, and ZMP stability constraints were shown in similarity locomotion. The hierarchical reinforcement learning MaxQ was used to adjust the movement tracks of similarity to fit the variable stairs. The experiments showed the validity of the method.
引用
收藏
页码：120 / 130
页数：11
相关论文
共 50 条
  • [1] On human motion imitation by humanoid robot
    Suleiman, Wael
    Yoshida, Eiichi
    Kanehiro, Fumio
    Laumond, Jean-Paul
    Monin, Andre
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 2697 - +
  • [2] Locomotion similarity-based humanoid robot's stepping upstairs
    Ke, Wende
    Peng, Zhiping
    Hong, Bingrong
    Xu, Xiandong
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2012, 40 (12): : 60 - 64
  • [3] A humanoid robot with motion imitation ability
    Chou, Li-Po
    Wang, Wen-June
    PROCEEDINGS OF 2007 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7, 2007, : 2031 - 2036
  • [4] Humanoid Robot Motion Imitation Using Kinect
    Lin, Hsien-I
    Chou, Chan-Ching
    2015 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS), 2015,
  • [5] Dynamic Imitation of Human Motion for Humanoid Robot
    Chiang, Shu-Yin
    Kuo, Shih-Chuan
    Lin, Jau-Bi
    Chen, Ching-Hui
    2017 IEEE SMARTWORLD, UBIQUITOUS INTELLIGENCE & COMPUTING, ADVANCED & TRUSTED COMPUTED, SCALABLE COMPUTING & COMMUNICATIONS, CLOUD & BIG DATA COMPUTING, INTERNET OF PEOPLE AND SMART CITY INNOVATION (SMARTWORLD/SCALCOM/UIC/ATC/CBDCOM/IOP/SCI), 2017,
  • [6] Human Arm Motion Imitation by a Humanoid Robot
    Fifiatrault, Sylvain
    Cretu, Ana-Maria
    2014 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTIC AND SENSORS ENVIRONMENTS (ROSE 2014), 2014,
  • [7] Visual Imitation of Humanoid Robot for 3-D Motion of Different Humanoid Robot
    Hwang, Chih-Lyang
    Lan, Chien-Wu
    Wang, Chao-Kuei
    Hao, Shu-Sheng
    JOURNAL OF THE CHINESE SOCIETY OF MECHANICAL ENGINEERS, 2013, 34 (02): : 109 - 119
  • [8] Tcleoperation of a Humanoid Robot with Motion Imitation and Legged Locomotion
    Sripada, Aditya
    Asokan, Harish
    Warrier, Abhishek
    Kapoor, Arpit
    Gaur, Harshit
    Patel, Rahil
    Sridhar, R.
    2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM), 2018, : 375 - 379
  • [9] Motion Imitation of a Humanoid Robot via Pose Estimation
    Meng, Shuyu
    Qiu, Suo
    Liang, Tianhao
    Ren, Qinyuan
    2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2023, : 1526 - 1532
  • [10] Motion planning for stepping on/off obstacles by humanoid robot
    Jafri, Ali Raza
    Huang, Qiang
    Yang, Jie
    Wang, Zhijie
    Xiao, Tao
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1154 - 1159
12345