Using Natural Human Gait for a humanoid robot

A. Byagowi, P. Kopacek
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引用次数: 3

Abstract

In this paper the method used to implement the natural human gait for a humanoid robot is presented. This work is part of the humanoid robot project called Archie. The project Archie started on 2004 in the Institute of Handling Robotics and Technology at Vienna University of Technology. The aim of this project is to build a robot that can imitate human's basic activities such as walking. In this work an image processing based technique has been used to extract the humans' walking trajectory, as a model for the robot. The same image processing method has been used to evaluate the robot's control system performance (traversed trajectory). Finally, the error obtained from the robot's test is shown and briefly discussed.
基于自然步态的仿人机器人
提出了一种实现仿人机器人自然步态的方法。这项工作是人形机器人阿奇项目的一部分。阿奇于2004年在维也纳科技大学搬运机器人与技术研究所开始了这个项目。这个项目的目的是制造一个能模仿人类基本活动的机器人,比如走路。在这项工作中,一种基于图像处理的技术被用来提取人类的行走轨迹,作为机器人的模型。同样的图像处理方法已被用于评估机器人的控制系统性能(遍历轨迹)。最后给出了机器人试验结果的误差,并进行了简要的讨论。
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