Trajectory calculation and gait change on-line for humanoid teleoperation

Tao Xiao*, Qiang Huang, Jianxi Li, Weimin Zhang, Kejie Li

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

5 引用 (Scopus)

摘要

This paper presented a method of realizing online trajectory calculation and gait change on the teleoperation system of humanoid robot BHR-2. The trajectory calculation is based on key parameters include hip and ankle positions etc which come from offline gait programming. We designed the control arithmetic which calculated all joint angles on-line basis the data file of key parameters when motion control computer accepted the instruction from the remote cockpit of the teleopertion system, finally modified them real-time basis sensor information. Basis online trajectory calculation we realized gait change on-line for humanoid teleoperation. The effectiveness of the presented method is confirmed by teleoperation experiments with our developed humanoid robot BHR-2.

源语言英语
主期刊名2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
1614-1619
页数6
DOI
出版状态已出版 - 2006
活动2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, 中国
期限: 25 6月 200628 6月 2006

出版系列

姓名2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
2006

会议

会议2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
国家/地区中国
Luoyang
时期25/06/0628/06/06

指纹

探究 'Trajectory calculation and gait change on-line for humanoid teleoperation' 的科研主题。它们共同构成独一无二的指纹。

引用此