Combined Controllers that Follow Imperfect Input Motions for Humanoid Robots

Authors

Gazihan Alankus, Washington University in St Louis
Burchan O. Bayazit, Washington University in St Louis

Document Type

Technical Report

Department

Computer Science and Engineering

Publication Date

2007

Filename

wucse-2007-49.pdf

Technical Report Number

WUCSE-2007-49

Abstract

Humanoid robots have the potential to become a part of everyday life as their hardware and software challenges are being solved. In this paper we present a system that gets as input a motion trajectory in the form of motion capture data, and produces a controller that controls a humanoid robot in real-time to achieve a motion trajectory that is similar to the input motion data. The controller expects the input motion data not to be dynamically feasible for the robot and employs a combined controller with corrective components to keep the robot balanced while following the motion. Since the system can run in real-time, it can be thought of a candidate for teleoperation of humanoid robots using motion capture hardware.

Comments

Permanent URL: http://dx.doi.org/10.7936/K7HM56N0

Recommended Citation

Alankus, Gazihan and Bayazit, Burchan O., "Combined Controllers that Follow Imperfect Input Motions for Humanoid Robots" Report Number: WUCSE-2007-49 (2007). All Computer Science and Engineering Research.
https://openscholarship.wustl.edu/cse_research/148