DocumentCode
408035
Title
Study on humanoid motion control system
Author
Wang, Jian ; Liu, Hui ; Ma, Hongxu
Author_Institution
Dept. of Mechtronic & Autom., Nation Univ. of Defense Technol., Changsha, China
Volume
1
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
66
Abstract
In this paper, the configuration of humanoid motion control system is brought forward according to the requirement of humanoid structure and control characters. The plan of motion control system, the structure of lower controllers, control algorithm and the ways of data exchange are expatriated in detail. Finally, the efficiency of the control system is proved and the prototype is realized, and the emphasis of our future work is described.
Keywords
legged locomotion; motion control; control algorithm; data exchange; humanoid system; motion control; Automatic control; Automation; Control systems; Fingers; Humanoid robots; Joints; Motion control; Motion planning; Pulse width modulation; Servomotors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285550
Filename
1285550
Link To Document