SOPC based human biped motion tracking control for human-sized biped robot

Su Yu-Te, Li Tzuu-Hseng S., Chen Wen-Chien, Hu Jhen-Jia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationTrends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings
Pages57-64
Number of pages8
DOIs
Publication statusPublished - 2010
Event13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 - Bangalore, India
Duration: 2010 Sept 152010 Sept 17

Publication series

NameCommunications in Computer and Information Science
Volume103 CCIS
ISSN (Print)1865-0929

Conference

Conference13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
Country/TerritoryIndia
CityBangalore
Period10-09-1510-09-17

All Science Journal Classification (ASJC) codes

  • General Computer Science
  • General Mathematics

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