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Imitation of human motion for humanoid robot in lift and carry event

Part of: Robot Athletes and Entertainers

Published online by Cambridge University Press:  03 December 2019

Shu-Yin Chiang Open the ORCID record for Shu-Yin Chiang [Opens in a new window]  and
Hao-Ge Jiang
Shu-Yin Chiang
Affiliation:
Department of Information and Telecommunications Engineering, Ming Chuan University, 5 De Ming Road, Gui Shan District, Taoyuan City 333, Taiwan; e-mail: sychiang@mail.mcu.edu.tw
Hao-Ge Jiang
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, 639798, Singapore; e-mail: haoge001@ntu.edu.sg
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Abstract

This study proposed a method to enable a humanoid robot to step up onto a stair by imitating the step-up motion of a human and to accomplish a lift and carry event in HuroCup of Federation of International RoboSports Association. The step-up motion, divided into five states, was captured by a Kinect sensor, and the human joints corresponded to the humanoid robot joints. Selected servomotors and their angle variation were matched with that of human joint numbers by a designed fuzzy inference system on the basis between the human and the humanoid robot joints. Then, the rest of the robot motors were adjusted by the zero moment point obtained from force-sensing registers to maintain stability. Next, two intermediate transition states were added between each state of the humanoid robot step-up to maintain its balance and reduce motor damage. Finally, to be applied in a real lift and carry event, a vision system was integrated to recognize the edge of a color board and determine a suitable site for the step-up. With these functions integrated, the robot under the proposed method was verified to successfully achieve the task of the lift and carry event without losing its balance or falling.

Type
Robot Athletes and Entertainers
Information
The Knowledge Engineering Review , Volume 34 , 2019 , e22
Copyright
© Cambridge University Press, 2019 

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