[1]CHEN Wenbai,GAO Shijie,WU Xibao.HMCD based dynamic motion control strategy of? humanoid robot on a horizontal bar[J].CAAI Transactions on Intelligent Systems,2012,7(6):501-505.
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HMCD based dynamic motion control strategy of? humanoid robot on a horizontal bar

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 6 Page number: 501-505 Column: 学术论文—智能系统 Public date: 2012-12-25
Title:
HMCD based dynamic motion control strategy of? humanoid robot on a horizontal bar
Author(s):
CHEN Wenbai;  GAO Shijie;  WU Xibao
School of Automation, Beijing Information Science and Technology University, Beijing 100192, China
Keywords:
dynamic motion on a horizontal bar;  HMCD;  motionplanning;  humanoid robot
CLC:
TP18；TN92
DOI:
-
Abstract:
Aiming at the movement implementation of a humanoid robot on a horizontal bar, the control strategy based on HMCD (human motion capture data) is proposed in this paper. The Acrobot model, its physical structure, the degree of freedom and the technical requirements of International Humanoidrobot Olympic Games (IHOG) were analyzed for the robot on a horizontal bar. The key steps of this dynamic motion strategy are motion data capture through the video of human’s motion on the horizontal bar, the key feature points’ analysis of the humanoid robot model and the joint angle’s kinematic data match in the basic movements. After making the appropriate adjustments due to the kinematic constraints, an interpolation method was used to generate the motion trajectory of all the joints. The experimental results, based on MF1 type humanoid robot on the horizontal bar indicate that the proposed method is feasible and effective.
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