TY - JOUR
T1 - Dynamic human motion mapping and balance control of a humanoid robot
AU - Lee, Dan Bee
AU - Kim, Jung Yup
N1 - Publisher Copyright:
© 2018 The Korean Society of Mechanical Engineers
PY - 2018/10
Y1 - 2018/10
N2 - This paper describes the dynamic motion mapping from the human to a humanoid robot with different size, weight, and joint structure, and the balance control for stably performing the motion. To simplify the motion capture process, we used only a KINECT sensor to obtain the human motion data, and derived the modified motion data, which is suitable for humanoid robot size through kinematic post-processing. The dynamic stability of the obtained robot motion is analyzed in terms of the zero moment point (ZMP), and the motion is finally modified by searching unstable motion sections and correcting them using the preview control based on an inverted pendulum model. Online balancing control based on the capture point (CP) was additionally carried out to ensure the dynamic stability when the final robot motion was applied to the humanoid robot. Finally, the performance of the proposed algorithm was verified through the dynamic simulator Webots and Robotis-OP model.
AB - This paper describes the dynamic motion mapping from the human to a humanoid robot with different size, weight, and joint structure, and the balance control for stably performing the motion. To simplify the motion capture process, we used only a KINECT sensor to obtain the human motion data, and derived the modified motion data, which is suitable for humanoid robot size through kinematic post-processing. The dynamic stability of the obtained robot motion is analyzed in terms of the zero moment point (ZMP), and the motion is finally modified by searching unstable motion sections and correcting them using the preview control based on an inverted pendulum model. Online balancing control based on the capture point (CP) was additionally carried out to ensure the dynamic stability when the final robot motion was applied to the humanoid robot. Finally, the performance of the proposed algorithm was verified through the dynamic simulator Webots and Robotis-OP model.
KW - Balancing Control
KW - Humanoid Robot
KW - Motion Mapping
UR - http://www.scopus.com/inward/record.url?scp=85054472646&partnerID=8YFLogxK
U2 - 10.3795/KSME-A.2018.42.10.905
DO - 10.3795/KSME-A.2018.42.10.905
M3 - Article
AN - SCOPUS:85054472646
SN - 1226-4873
VL - 42
SP - 905
EP - 916
JO - Transactions of the Korean Society of Mechanical Engineers, A
JF - Transactions of the Korean Society of Mechanical Engineers, A
IS - 10
ER -