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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9517

Title: Self-stabilizing Human-Like Motion Control Framework for Humanoids Using Neural Oscillators
Authors: Yang, Woosung
Chong, Nak Young
Ra, Syungkwon
Bae, Ji-Hun
You, Bum Jae
Keywords: humanoid robot
neural oscillator
bipedal control
human-like motion
Issue Date: 2009-09-19
Publisher: Springer
Magazine name: Lecture Notes in Computer Science
Volume: 5754/2009
Start page: 512
End page: 525
DOI: 10.1007/978-3-642-04070-2_57
Abstract: 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
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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