Earticle

초록

영어

In this paper a method that allows for the control of a humanoid robot with foot sensors through an imitation control approach is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). The key concept is to trace the CoP (center of pressure) as fast as possible and to control the ankle of the robot’s support foot prior to impact. The experimental results demonstrate that a humanoid robot can successfully imitate the motions of the operator and can walk stably by utilizing both the CoP and controlling the robot’s ankle.

목차

Abstract
 1. Introduction
 2. Related Works
 3. Imitation Control System and Robot Kinematics
 4. Calculation and Estimation of Falling Time
 5. Imitation Control Algorithm
 6. Wearable Encoding and Foot Sensor System
  6.1 Wearable Encoding System
  6.2 Foot Sensor System
 7. Experiments and Results
 8. Conclusions
 Acknowledgements
 References

키워드

저자

• Hee-Jung Byun [ Department of IT Engineering, University of Suwon, IT Building, San 2-2 Wau-ri, Bongdam-eup, Hwaseong-si, South Korea ]
• Su Goog Shon [ Department of IT Engineering, University of Suwon, IT Building, San 2-2 Wau-ri, Bongdam-eup, Hwaseong-si, South Korea ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605