文章基本信息

标题：Implementation about Thread and Internet-based Motion Receiving Imitation Controller for Humanoid
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作者：Hee-Jung Byun ; Su Goog Shon
期刊名称：International Journal of Security and Its Applications
印刷版ISSN：1738-9976
出版年度：2016
卷号：10
期号：1
页码：65-74
DOI：10.14257/ijsia.2016.10.1.07
出版社：SERSC
摘要：In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected with single communication path for the imitation control. The key concept for autonomous control is added to let the robot stabilize by utilization of tracing the CoP (center of pressure) and controlling the ankle of the robot's support foot prior to impact in real time. Thread programming technology is introduced to enhance the control and operation speed up, and explained how to operate joints. The experimental results demonstrate that the humanoid robot can successfully imitate the motions of the operator and can walk stably by both utilizing the CoP and controlling the robot's ankles.
关键词：control communication; thread; humanoid; imitation control; Internet