A Joint Angle-Based Control Scheme for the Lower-Body of Humanoid Robot via Kinect

摘要

To control humanoid robot, one of the challenges is to keep the balance. In this paper, a joint angle-based control (JAC) scheme is proposed for the lower-body of humanoid robot NAO to imitate human motion via Kinect. To keep the balance, the joint angles in the lower-body of NAO are optimized according to the tracked human motion and the current state of the robot. Experimental results show that the control scheme works efficiently even when the humanoid robot performs the complex movement such as standing on single foot.