Title: Study on similarity imitation constraints of biped walking for humanoid robot

Authors: Wen-de Ke; Bing-rong Hong; Gang Cui; Zhi-ping Peng

Addresses: School of Computer Science, Harbin Institute of Technology, Harbin 150001, China; Department of Computer Science, Guangdong University of Petrochemical Technology, Maoming 525000, China ' School of Computer Science, Harbin Institute of Technology, Harbin 150001, China ' School of Computer Science, Harbin Institute of Technology, Harbin 150001, China ' Department of Computer Science, Guangdong University of Petrochemical Technology, Maoming 525000, China

Abstract: Similarity motion imitation on humanoid robot from the captured tracks of human actor has attracted more and more attention. We described the basic system of similarity imitation that was formed by three modules - the image capture, imitation control and imitation on real robot. The similarity degree was analysed by the differences of angle, angular velocity and acceleration between human actor and robot, and the function of spatio-temporal harmony for simultaneous actions was provided as well. In order to make the humanoid robot walk like the human actor by following the captured tracks, the constraints of kinematics and zero moment point (ZMP) shall be considered. We proposed a method of similarity imitation constraint on biped walking for humanoid robot. The walking process was divided into three phases and the corresponding kinematics and ZMP constraints were set on them. Besides, the trigonometric functions were used to connect the consecutive phases to make the track smooth, and the constraint of avoiding singular pose was also accomplished by making the knee flexible. We applied the constraints of similarity imitation and reached the similar biped walking on the humanoid robot Aldebaran Nao.

Keywords: humanoid robots; similarity imitation; image capture; constraints; legged locomotion; biped walking; walking robots; similarity motion; robot motion; imitation control; robot kinematics; zero moment point; knee flexibility.

DOI: 10.1504/IJCSM.2013.054683

International Journal of Computing Science and Mathematics, 2013 Vol.4 No.1, pp.51 - 61

Received: 14 Feb 2013
Accepted: 22 Mar 2013
Published online: 10 May 2014 *

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