カラーペトリネットを用いた床面検出と動的バランス制御を備える歩行人型ロボットのモデリング
Modelling of Walking Humanoid Robot With Capability of Floor Detection and Dynamic Balancing Using Colored Petri Net
ジャイロ・加速度センサと画像処理による床面検出を組み合わせ、カラーペトリネットで人型ロボットの動的バランス歩行制御アルゴリズムをモデル化した論文。
著者: Saeid Pashazadeh, Saeed Saeedvand
分類: cs.RO
原文アブストラクト
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot, combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processing is used to identify two fundamental issues: first, detection of target or an object which robot must follow; second, detecting surface of the ground so that walking robot could maintain its balance just like a human and shows its best performance. Presented model gives high-level view of humanoid robot's operations.