Imitation Control Research Articles

Imitation Control in Biped Robot by Using Controller to Operator

This study describes a robot that can be remotely imitation controlled by an operator wearing a special suit with sensors to facilitate various movements. Remote controlled robot has quite different body structure and control strategy. Traditionally, robot is controlled by preset commands which are calculated from the requirements to keep balance. However, our robot control command is issued by operator instead of robot itself. Balancing imitation control algorithm is designed and implemented to walk without falling down. All the trajectories such as turn, stop, start, walk, etc, are determined by the operator. Finally, experiment result shows that this kind of new control method can be applied on various areas.

Imitation Control for Biped Robot Using Wearable Motion Sensor

In conventional imitation control, optical tracking devices have been widely adopted to capture human motion and control robots in a laboratory environment. Wearable sensors are attracting extensive interest in the development of a lower-cost human-robot control system without constraints from stationary motion analysis devices. We propose an ambulatory human motion analysis system based on small inertial sensors to measure body segment orientations in real time. A new imitation control method was developed and applied to a biped robot using data of human joint angles obtained from a wearable sensor system. An experimental study was carried out to verify the method of synchronous imitation control for a biped robot. By comparing the results obtained from direct imitation control with an improved method based on a training algorithm, which includes a personal motion pattern, we found that the accuracy of imitation control was markedly improved and the tri-axial average errors of x-y- and z-moving displacements related to leg length were 12%, 8% and 4%, respectively. Experimental results support the feasibility of the proposed control method.