Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data

@article{Yamane2009SimultaneousTA,
  title={Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data},
  author={Katsu Yamane and Jessica K. Hodgins},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={2510-2517}
}
This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance. The controller comprises two main components: a balance controller and a tracking controller. The balance controller uses a regulator designed for a simplified humanoid model to obtain the desired input to keep balance based on the current state of the robot. The simplified model is chosen so that a regulator can be designed systematically using, for… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 50 CITATIONS, ESTIMATED 33% COVERAGE

151 Citations

0102030'11'13'15'17'19
Citations per Year
Semantic Scholar estimates that this publication has 151 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
SHOWING 1-10 OF 25 REFERENCES

Dynamics simulation of humanoid robots: Forward dynamics, contact, and experiments

  • ——
  • The 17th CISM-IFToMM Symposium on Robot Design…
  • 2008
1 Excerpt

Integral control of humanoid balance

  • B. Stephens
  • Proceedings of IEEE/RSJ International Conference…
  • 2007
2 Excerpts

Similar Papers

Loading similar papers…