Earticle

초록

영어

In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected with single communication path for the imitation control. The key concept for autonomous control is added to let the robot stabilize by utilization of tracing the CoP (center of pressure) and controlling the ankle of the robot’s support foot prior to impact in real time. Thread programming technology is introduced to enhance the control and operation speed up, and explained how to operate joints. The experimental results demonstrate that the humanoid robot can successfully imitate the motions of the operator and can walk stably by both utilizing the CoP and controlling the robot’s ankles.

목차

Abstract
 1. Introduction
 2. Design of Internet-Based Imitation and Autonomous Control Scheme
 3. Implementation of Thread-Based Motion Receiving Controller
 4. Experiments and Results
 5. Conclusions
 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 Security and Its Applications

• 간기

  격월간

• pISSN

  1738-9976

• 수록기간

  2008~2016

• 등재여부

  SCOPUS

• 십진분류

  KDC 505 DDC 605