Sensor system and trajectory control of a biped robot

2004 ◽  
Author(s):  
S. Lohmeier ◽  
K. Loeffler ◽  
M. Gienger ◽  
H. Ulbrich ◽  
F. Pfeiffer
Keyword(s):  
Biped Robot ◽  
Trajectory Control ◽  
Sensor System

Implementation of Encoder, Foot Sensor and Walk for Imitation Control of Biped Robot

2014 ◽  
Vol 568-570 ◽  
pp. 911-916
Author(s):  
Yi Feng Cui ◽  
Jung Hee Byun ◽  
Su Goog Shon
Keyword(s):  
Biped Robot ◽  
Human Motion ◽  
Sensor System ◽  
Human Gait ◽  
Control Algorithms ◽  
Physical Parameters ◽  
Motion Data ◽  
New Type ◽  
Stable Gait ◽  
System Characteristics

Programming a biped robot to walk is a challenging issue in robotics. For a stable gait, prior knowledge of the robot’s physical parameters and sophisticated control algorithms are required. Robot walking by imitating a human gait becomes new challenging issues. Using a human motion data to the robot’s walk is convenient even though direct usage of the data usually results in dynamically unstable motion. The purpose of this paper is to develop a new type of encoder and foot sensor for biped imitation control system, which is direct and real-time sensor system. Characteristics of the sensor system are discussed. Finally, the operator’s joint motion can be imitated to the robot by using the new type of wearable encoder sensor. CoP through the developed foot sensor can be obtained and utilized to walk.

SENSOR AND CONTROL ASPECTS OF BIPED ROBOT "JOHNNIE"

2004 ◽  
Vol 01 (03) ◽  
pp. 481-496 ◽  
Author(s):  
FRIEDRICH PFEIFFER ◽  
KLAUS LÖFFLER ◽  
MICHAEL GIENGER ◽  
HEINZ ULBRICH
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Trajectory Control ◽  
Torque Sensor ◽  
Control Scheme ◽  
Stable Gait ◽  
Orientation Sensor ◽  
Walking Speeds ◽  
And Control ◽  
Computed Torque

The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular the design of the 3D-orientation sensor and the 6-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.2 km/h have been achieved in experiments.

Light Sensor System Measuring Declination and Orientation

2010 ◽  
Vol 130 (10) ◽  
pp. 495-500
Author(s):  
Toyokazu Tambo ◽  
Yuuji Miyamoto ◽  
Shuuhei Sakashita ◽  
Miki Shibata
Keyword(s):  
Sensor System ◽  
Light Sensor

Preface to the Special Issue on “Sensor System for Social-Infrastructure Security”

2018 ◽  
Vol 138 (10) ◽  
pp. 448-448
Author(s):  
Gen Hashiguchi ◽  
Hiroshi Kezuka ◽  
Noriaki Ikenaga ◽  
Masayuki Sohgawa
Keyword(s):  
Sensor System ◽  
Special Issue ◽  
Social Infrastructure

An LTPS Ambient Light Sensor System with Sensitivity Correction Methods in LCD

2019 ◽  
Vol E102.C (7) ◽  
pp. 558-564
Author(s):  
Takashi NAKAMURA ◽  
Masahiro TADA ◽  
Hiroyuki KIMURA
Keyword(s):  
Sensor System ◽  
Ambient Light ◽  
Light Sensor
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