Abstract
In this paper a method that allows for the control of a humanoid robot with foot sensors through an imitation control approach is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). The key concept is to trace the CoP (center of pressure) as fast as possible and to control the ankle of the robot’s support foot prior to impact. The experimental results demonstrate that a humanoid robot can successfully imitate the motions of the operator and can walk stably by utilizing both the CoP and controlling the robot’s ankle.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
