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Technical Briefs

Imitation Control for Biped Robot Using Wearable Motion Sensor

[+] Author and Article Information
Tao Liu

Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kami-City, Kochi 782-8502, Japanliu.tao@kochi-tech.ac.jp

Yoshio Inoue, Kyoko Shibata

Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kami-City, Kochi 782-8502, Japan

J. Mechanisms Robotics 2(2), 024501 (Feb 23, 2010) (6 pages) doi:10.1115/1.4001097 History: Received June 11, 2008; Revised October 05, 2009; Published February 23, 2010; Online February 23, 2010

In conventional imitation control, optical tracking devices have been widely adopted to capture human motion and control robots in a laboratory environment. Wearable sensors are attracting extensive interest in the development of a lower-cost human-robot control system without constraints from stationary motion analysis devices. We propose an ambulatory human motion analysis system based on small inertial sensors to measure body segment orientations in real time. A new imitation control method was developed and applied to a biped robot using data of human joint angles obtained from a wearable sensor system. An experimental study was carried out to verify the method of synchronous imitation control for a biped robot. By comparing the results obtained from direct imitation control with an improved method based on a training algorithm, which includes a personal motion pattern, we found that the accuracy of imitation control was markedly improved and the tri-axial average errors of x-y- and z-moving displacements related to leg length were 12%, 8% and 4%, respectively. Experimental results support the feasibility of the proposed control method.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

Motion sensor module

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Figure 2

Wearable motion sensor system. A strap system was designed to attach the sensor modules to the human body segments.

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Figure 4

Simplified model of right leg of the biped robot

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Figure 5

Geometric relations of the robot’s segment links

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Figure 6

Architecture of the synchronous imitation control system

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Figure 7

Three-directional waist movement imitation

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Figure 8

Training results of waist motion imitation control experiment

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Figure 9

Waist motion imitation control experiment after training

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