Online Delayed Reference Generation for a Humanoid Imitating Human Walking Motion

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In this article, we propose a delayed reference generation method for a humanoid to stably imitate human walking. An admissible condition for a robust imitation is first defined from the state of the robot and the target support polygon. In addition, a motion buffer is proposed and implemented to apply a time delay to the human motion according to the abovementioned condition for use as a reference to the robot. A data acquisition device and the HUBO2+ humanoid platform were used in teleoperation experiments to verify the effectiveness of the proposed method. We confirmed that the robot could stably imitate human footsteps under either static or dynamic walking when applying the proposed method.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2021-02
Language
English
Article Type
Article
Citation

IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.26, no.1, pp.102 - 112

ISSN
1083-4435
DOI
10.1109/TMECH.2020.3002396
URI
http://hdl.handle.net/10203/281649
Appears in Collection
ME-Journal Papers(저널논문)
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