Hand-position Oriented Humanoid Walking Motion Control System.
Koichi NishiwakiYasutaka FukumotoSatoshi KagamiMasayuki InabaHirochika InouePublished in: ISER (2004)
Keyphrases
- humanoid robot
- control system
- motion planning
- motion capture
- motion patterns
- motion control
- hand motion
- degrees of freedom
- multi modal
- human walking
- walking speed
- position and orientation
- control law
- motion analysis
- human motion
- end effector
- image sequences
- human gait
- position information
- fuzzy logic
- human arm
- coordinate frame
- motion estimation
- relative position
- control method
- control algorithm
- pid controller
- optical flow
- initial position
- hand gestures
- camera motion
- motion model
- constant velocity
- human hand
- motion field
- real time
- spatio temporal
- motion parameters
- motion detection
- mobile robot
- inverse kinematics
- background subtraction
- human body
- space time
- fuzzy controller
- control scheme