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2019 Volume 34
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ORIGINAL RESEARCH   Open Access    

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

  • Department of Information and Telecommunications Engineering

  • School of Electrical and Electronic Engineering

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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.
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  • Cite this article

    Shu-Yin Chiang, Hao-Ge Jiang. 2019. Imitation of human motion for humanoid robot in lift and carry event. The Knowledge Engineering Review. 34:171 doi: 10.1017/S0269888919000171
    Shu-Yin Chiang, Hao-Ge Jiang. 2019. Imitation of human motion for humanoid robot in lift and carry event. The Knowledge Engineering Review. 34:171 doi: 10.1017/S0269888919000171
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ORIGINAL RESEARCH   Open Access    

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

  • Department of Information and Telecommunications Engineering

  • School of Electrical and Electronic Engineering

  • Received: 11 April 2019
  • Revised: 16 October 2019
  • Accepted: 06 November 2019
The Knowledge Engineering Review  34,  Article number: e22  (2019)  |  Cite this article

Abstract: 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.

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    Shu-Yin Chiang, Hao-Ge Jiang. 2019. Imitation of human motion for humanoid robot in lift and carry event. The Knowledge Engineering Review. 34:171 doi: 10.1017/S0269888919000171
    Shu-Yin Chiang, Hao-Ge Jiang. 2019. Imitation of human motion for humanoid robot in lift and carry event. The Knowledge Engineering Review. 34:171 doi: 10.1017/S0269888919000171
    shu

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