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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10119/9517

タイトル: Self-stabilizing Human-Like Motion Control Framework for Humanoids Using Neural Oscillators
著者: Yang, Woosung
Chong, Nak Young
Ra, Syungkwon
Bae, Ji-Hun
You, Bum Jae
キーワード: humanoid robot
neural oscillator
bipedal control
human-like motion
発行日: 2009-09-19
出版者: Springer
誌名: Lecture Notes in Computer Science
巻: 5754/2009
開始ページ: 512
終了ページ: 525
DOI: 10.1007/978-3-642-04070-2_57
抄録: We propose an efficient and powerful alternative for adaptation of human motions to humanoid robots keeping the bipedal stability. For achieving a stable and robust whole body motion of humanoid robots, we design a biologically inspired control framework based on neural oscillators.Entrainments of neural oscillators play a key role to adapt the nervous system to the natural frequency of the interacted environments, which show superior features when coupled with virtual components. The coupled system allows an unstable system to stably move according to environmental changes. Hence the feature of the coupled system can be exploited for sustaining the bipedalstability of humanoid robots. Also based on this, a marionette-type motion conversion method to adapt captured motions to a humanoid robot is developed owing that there are the differences in capabilities of dynamics and kinematics between a robot and a human. Then this paper discuss on how to stably show human motions with a humanoid robot. We verify that a real humanoid robot can successfully sustain the bipedal stability exhibiting captured whole body motions from various simulations and experiments.
Rights: This is the author-created version of Springer, Woosung Yang, Nak Young Chong, Syungkwon Ra, Ji-Hun Bae and Bum Jae You, Lecture Notes in Computer Science, 5754/2009, 2009, 512-525. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/978-3-642-04070-2_57
URI: http://hdl.handle.net/10119/9517
資料タイプ: author
出現コレクション:b10-1. 雑誌掲載論文 (Journal Articles)


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