Combined Controllers that Follow Imperfect Input Motions for Humanoid Robots

Date Added: Aug 2009
Format: PDF

Humanoid robots have the potential to become a part of everyday life as their hardware and software challenges are being solved. In this paper, the authors 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.