SOPC Based Human Biped Motion Tracking Control for Human-Sized Biped Robot

This paper presents the implementation of SOPC based human biped motion (HBM) tracking control for human-sized biped robot. aiRobot-HBR1 is a human-size biped robot with 110 cm height, 40 Kg weight, and has a total of 12 degree of freedom (D.O.F). The hardware of aiRobot-HBR1 is designed base on the human body model. According to the human body model, the dynamic model of integrated sensor control module (ISCM) is established. Using the sensor information, HBM can be recognized by the geometric relation. However the sensor information is easily affected by the noise, the discrete Kalman filter is applied in the HBM tracking control. Finally, the feasibility of Kalman filter based HBM tracking control is demonstrated by the experiments.