Comparison of bipedal humanoid walking with human being using inertial measurement units and force-torque sensors.
Gautam NarangWeisheng KongPu XuArjun NarangSoumya SinghKenji HashimotoMassimiliano ZeccaAtsuo TakanishiPublished in: SII (2013)
Keyphrases
- humanoid robot
- contact force
- motion planning
- dynamic model
- walking speed
- inertial sensors
- force sensing
- multi modal
- human walking
- control algorithm
- real time
- human subjects
- human behavior
- human users
- master slave
- control scheme
- closed loop
- data acquisition
- data fusion
- pid controller
- motion capture
- physical world
- human operators
- robotic arm
- control strategy
- human gait
- position control
- sensor networks