A walking motion imitation framework of a humanoid robot by human walking recognition from IMU motion data
A walking motion imitation framework of a humanoid robot by human walking recognition from IMU motion data
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通过 IMU 运动数据识别人类行走的人形机器人行走运动模仿框架
DOI：
10.1109/ichr.2009.5379552
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Doik Kim
中科院分区：
文献类型：
--
作者：
Sung;Seokmin Hong;Doik Kim
仿人机器人遥操作是仿人利用的一种很好的方法，但其运动平衡存在困难。在本文中，我们提出了一个框架之间的人和仿人机器人的步行模仿。利用惯性测量单元（IMU）识别人的步行运动，并将其作为仿人机器人的控制输入进行在线步行模拟。研究了适合于步态识别的IMU特征数据，提出了基于支撑脚检测和姿态估计的步态识别方法。将仿人机器人建模为倒立摆，进行在线行走控制。为了验证，使用Mahru-R进行了实验，Mahru-R是KIST开发的人形机器人。
Teleoperation of humanoid robots, which is one of good methods of humanoid utilization, has difficulties in locomotion with self-balancing. In this paper, we propose a framework of walking imitation between human and a humanoid robot. Using inertial measurement unit (IMU), human's walking motions are recognized, and used as humanoid robot control inputs for on-line walking imitation. Appropriate IMU feature data for walking recognition are investigated, and walking recognition method based on supporting foot detection and stance estimation is suggested. A humanoid robot is modeled as an inverted pendulum for on-line walking control. For validation, experiments were conducted using Mahru-R, a humanoid robot developed in KIST.