By Topic

Synchronous imitation control for biped robot based on wearable human motion analysis system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Liu, T. ; Dept. of Intell. Mech. Syst. Eng., Kochi Univ. of Technol., Kami ; Utsunomiya, H. ; Inoue, Y. ; Shibata, K.

To achieve accurate and efficient interaction with humans, robot training is indispensable to make robot cooperate with different host. We are focusing on development of a human motion analysis system to real-time measure body segment orientations. Imitation control was applied on a biped robot based on measurements of the developed wearable sensor system. Experimental study was implemented to verify the synchronous imitation control method proposed for the biped robot, and verification results proved the feasibility of the proposed control method. Through comparing results obtained from direct imitation control method and improved method based on training algorithm considering the personal motion pattern, we found that the imitation control accuracy was markedly improved, and the three-axial average errors of x- y- and z- moving displacements related to leg length were 12%, 8% and 4% respectively.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008