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

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...

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Bibliographic Details
Published in:Knowledge engineering review 2019, Vol.34, Article e22
Main Authors: Chiang, Shu-Yin, Jiang, Hao-Ge
Format: Article
Language:English
Subjects:
Algorithms
Ankle
Elbow
FIRA
Fuzzy logic
Fuzzy systems
Human motion
Humanoid
Kinematics
Lift
Robot dynamics
Robots
Sensors
Servomotors
Universal Serial Bus
Vision systems
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Summary: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.
ISSN:0269-8889
1469-8005
DOI:10.1017/S0269888919000171