Share Email Print
cover

Proceedings Paper

Motion control simulation based on VR for humanoid robot
Author(s): Huaiqing He; Haoxuan Tang
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.

Paper Details

Date Published: 19 March 2004
PDF: 4 pages
Proc. SPIE 5444, Fourth International Conference on Virtual Reality and Its Applications in Industry, (19 March 2004); doi: 10.1117/12.561249
Show Author Affiliations
Huaiqing He, Civil Aviation Univ. of China (China)
Haoxuan Tang, Harbin Institute of Technology (China)


Published in SPIE Proceedings Vol. 5444:
Fourth International Conference on Virtual Reality and Its Applications in Industry
Jizhou Sun; Zhigeng Pan, Editor(s)

© SPIE. Terms of Use
Back to Top