Biped Robot Walking Based on Imitation Control

被引：0

作者：

Lee, Sang Hyup ^{[1
]}

Oh, Dong-Pyo ^{[1
]}

Shon, Su Goog ^{[1
]}

机构：

[1] Univ Suwon, Dept Informat & Telcommun, Hwaseong Si, South Korea

来源：

INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014) | 2014年

关键词：

CoP; Imitation control; Biped robot; Humanoid robot;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Programming a biped robot to walk is a challenging issue in robotics. For a stable gait, prior knowledge of the robot's physical parameters and sophisticated control algorithms are required. This paper proposes architecture and control model for the imitation control. A balance algorithm for unseen trajectory data produced by an operator is designed to control of walking posture based on CoP of biped walking robot. As a result, our experimental results show that the operator's joint motion can be imitated to the robot.

引用

页码：709 / 715

页数：7

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