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Identification of the Conjugate Pair to Estimating Object Distance: An Application of the Ant Colony Algorithm Read chapter Read first chapter

2018 | OriginalPaper | Chapter

A Joint Angle-Based Control Scheme for the Lower-Body of Humanoid Robot via Kinect

Authors : Guanwen Wang, Jianxin Chen, Xiao Hu, Jiayun Shen

Published in: Artificial Intelligence and Robotics

Publisher: Springer International Publishing

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Abstract

To control humanoid robot, one of the challenges is to keep the balance. In this paper, a joint angle-based control (JAC) scheme is proposed for the lower-body of humanoid robot NAO to imitate human motion via Kinect. To keep the balance, the joint angles in the lower-body of NAO are optimized according to the tracked human motion and the current state of the robot. Experimental results show that the control scheme works efficiently even when the humanoid robot performs the complex movement such as standing on single foot.

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Metadata
Title
A Joint Angle-Based Control Scheme for the Lower-Body of Humanoid Robot via Kinect
Authors
Guanwen Wang
Jianxin Chen
Xiao Hu
Jiayun Shen
Copyright Year
2018
Book
Artificial Intelligence and Robotics

Print ISBN: 978-3-319-69876-2

Electronic ISBN: 978-3-319-69877-9

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-69877-9_15

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