Motion control simulation based on VR for humanoid robot

Huaiqing He; Haoxuan Tang

doi:10.1117/12.561249

19 March 2004 Motion control simulation based on VR for humanoid robot

Huaiqing He, Haoxuan Tang

Proceedings Volume 5444, Fourth International Conference on Virtual Reality and Its Applications in Industry; (2004) https://doi.org/10.1117/12.561249
Event: Fourth International Conference On Virtual Reality and Its Applications in Industry, 2003, Tianjin, China

Abstract

This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.

Citation Download Citation

Huaiqing He and Haoxuan Tang "Motion control simulation based on VR for humanoid robot", Proc. SPIE 5444, Fourth International Conference on Virtual Reality and Its Applications in Industry, (19 March 2004); https://doi.org/10.1117/12.561249

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available