Online Delayed Reference Generation for a Humanoid Imitating Human Walking Motion

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dc.contributor.authorOh, Jaesungko
dc.contributor.authorSim, Okkeeko
dc.contributor.authorCho, Buyounko
dc.contributor.authorLee, KangKyuko
dc.contributor.authorOh, Jun-Hoko
dc.date.accessioned2021-03-17T08:10:18Z-
dc.date.available2021-03-17T08:10:18Z-
dc.date.created2021-03-17-
dc.date.issued2021-02-
dc.identifier.citationIEEE-ASME TRANSACTIONS ON MECHATRONICS, v.26, no.1, pp.102 - 112-
dc.identifier.issn1083-4435-
dc.identifier.urihttp://hdl.handle.net/10203/281649-
dc.description.abstractIn 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.-
dc.languageEnglish-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.titleOnline Delayed Reference Generation for a Humanoid Imitating Human Walking Motion-
dc.typeArticle-
dc.identifier.wosid000619402600010-
dc.identifier.scopusid2-s2.0-85101257352-
dc.type.rimsART-
dc.citation.volume26-
dc.citation.issue1-
dc.citation.beginningpage102-
dc.citation.endingpage112-
dc.citation.publicationnameIEEE-ASME TRANSACTIONS ON MECHATRONICS-
dc.identifier.doi10.1109/TMECH.2020.3002396-
dc.contributor.localauthorOh, Jun-Ho-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorHumanoid robots-
dc.subject.keywordAuthorLegged locomotion-
dc.subject.keywordAuthorDelay effects-
dc.subject.keywordAuthorTrajectory-
dc.subject.keywordAuthorStability analysis-
dc.subject.keywordAuthorTask analysis-
dc.subject.keywordAuthorDelayed reference generation-
dc.subject.keywordAuthorhuman-like motion generation-
dc.subject.keywordAuthorhuman motion imitation-
dc.subject.keywordAuthorhumanoid teleoperation-
dc.subject.keywordAuthormotion buffer-
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