Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 905-916 |
| Number of pages | 12 |
| Journal | Transactions of the Korean Society of Mechanical Engineers, A |
| Volume | 42 |
| Issue number | 10 |
| DOIs | |
| State | Published - Oct 2018 |
Keywords
- Balancing Control
- Humanoid Robot
- Motion Mapping
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