Design of the filter to statically stabilize positions of the anthropomorphous robot using ZMP Method

20th International Conference for Students and Young Scientists: Modern Techniques and Technologies

工业技术;材料科学

Shelomentcev, E.^1 ; Alexandrova, T.^1

Tomsk Polytechnic University, Tomsk, Russia^1

关键词: Control methods;    Motion capture;    Vertical positions;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/66/1/012027/pdf
DOI  :  10.1088/1757-899X/66/1/012027

来源: IOP

【 摘 要 】

Motion capture control methods including the Kinect control method are needed to stabilize the robot in a vertical position in order to prevent the robot from falling. The process of design of the position filter to perform this task is described in the paper. The application of such a filter enables to control the anthropomorphous robot using motion capture technology even if the connection with the robot has lags.