지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2014.10
- 수록면
- 585 - 590 (6page)
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초록· 키워드
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In this paper, a master-slave control system for a humanoid robot for social interaction tasks is proposed. The master-controller is a desktop anthropomorphic controller device that can gather set of joint angles for two arms (7 joints in each arm) in real-time when it is manipulated by an operator and the head motion command is acquired using a 9 axis IMU embedded in the hat worn by an operator. The master-controller is designed to be used with different humanoid robots. Thus, the master-slave control scheme with an automatic joint compensation is proposed. The decision-tree technique is employed in the gesture classification procedure. The joint commands that are sent to the slave humanoid robot are automatically compensated to ensure that both of its end-effectors reach the correct position for different gestures. The proposed controller was tested with different design parameters on the simulation of a humanoid robot.
목차
Abstract
1. INTRODUCTION
2. ANTHROPOMORPHIC ROBOT CONTROLLER
3. MASTER-SLAVE CONTROL ALGORITHM
4. EXPERIMENTS
5. CONCLUSIONS
REFERENCES
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