A stable pose estimation method for the biped robot using image information
- Authors
- Park, S.; Han, Y.
- Issue Date
- 2009
- Keywords
- Balance control; Biped robot; Kalman filter; Zero moment point
- Citation
- World Academy of Science, Engineering and Technology, v.38, pp.134 - 138
- Journal Title
- World Academy of Science, Engineering and Technology
- Volume
- 38
- Start Page
- 134
- End Page
- 138
- URI
- http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/16604
- ISSN
- 2010-376X
- Abstract
- This paper proposes a balance control scheme for a biped robot to trace an arbitrary path using image information. While moving, it estimates the zero moment point (ZMP) of the biped robot in the next step using a Kalman filter and renders an appropriate balanced pose of the robot. The ZMP can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For simplifying the kinematical model, the coordinates systems of individual joints of each leg are aligned and the robot motion is approximated as an inverted pendulum so that a simple linear dynamics, 3D-LIPM (3D-Linear Inverted Pendulum Mode) can be applied. The efficiency of the proposed algorithm has been proven by the experiments performed on unknown trajectory. © 2009 WASET.ORG.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Information Technology > Department of Smart Systems Software > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.