Teachasrisaksakul, K, Zhang, Z-Q orcid.org/0000-0003-0204-3867, Yang, G-Z et al. (1 more author) (2015) Imitation of dynamic walking with BSN for humanoid robot. IEEE Journal of Biomedical and Health Informatics, 19 (3). pp. 794-802. ISSN 2168-2194
Abstract
Humanoid robots have been used in a wide range of applications including entertainment, healthcare, and assistive living. In these applications, the robots are expected to perform a range of natural body motions, which can be either preprogrammed or learnt from human demonstration. This paper proposes a strategy for imitating dynamic walking gait for a humanoid robot by formulating the problem as an optimization process. The human motion data are recorded with an inertial sensor-based motion tracking system (Biomotion+). Joint angle trajectories are obtained from the transformation of the estimated posture. Key locomotion frames corresponding to gait events are chosen from the trajectories. Due to differences in joint structures of the human and robot, the joint angles at these frames need to be optimized to satisfy the physical constraints of the robot while preserving robot stability. Interpolation among the optimized angles is needed to generate continuous angle trajectories. The method is validated using a NAO humanoid robot, with results demonstrating the effectiveness of the proposed strategy for dynamic walking.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2015 IEEE. This is an author produced version of a paper published in IEEE Journal of Biomedical and Health Informatics. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Balance Control, Body Sensor Network, Dynamic Walking, Human Motion Imitation, Humanoid Robot, Wearable Sensors |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Aug 2016 15:05 |
Last Modified: | 13 Feb 2019 10:50 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/JBHI.2015.2425221 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:101024 |