Sensor fusion for compliant robot motion controls

Unfortunately, during the experiments, we cannot achieve the man-robot synchronization. Figure 4 shows that the parameters of single joint are set. Human body can be simplified as a model that can be described as in Figure 1which contains 12 main body joints. In robotics technology, there is much space for improvement, because it is hard to keep balance and stability of the robot at any moment, especially during movement.

In this paper, our main contribution is to realize the humanoid robot to imitate human upper limb motion in real-time based on ESN Figure 3. In this section, sensor fusion for compliant robot motion controls review the steps for collecting human pose data is given in Section 3. Or there may be a better way for data optimization. A series of experiments are done to prove the reliability of this point proposed in this paper. In this paper, we propose a novel joint motion control of NAO robot approach based on echo state network.

Force Estimation in Robotic Manipulators: Whenthe network begins to run and the state is initialized randomly here. Then we can obtain the data from the serial port with the MTi binary communication protocol using flow free-running operation or polling request mode.

Finally, the joint motion control based echo state network is provided thereafter in Section 2. Not every randomly generated RNN has this property, but it can effectively be built into a reservoir. This excited the internal neurons through the output feedback connections. Signal acquisition depended on MTi sensor: This system is not strictly limited by fixed motion analysis equipment.

NAO robot is more popular humanoid robot nowadays. Then, the basic architecture of echo state network is introduced in the paper in Section 2. The initial position of the human body and NAO robot: Depending on the dynamic coupling effect between the angle acceleration of passive joint and the sensor fusion for compliant robot motion controls of active joint, passive joint can be controlled indirectly to the desired position along the desired trajectory. Cited By Sort by:

Taking the single joint of NAO robot as an example, the dynamic trace for passive joint is as shown in And for function 5sensor fusion for compliant robot motion controls this paper, the states for shift, velocity, and acceleration in the moving joint of NAO robot are set in. The most direct way to get the joint information is to adopt ewearable sensor devices [ 12 ]. The difference of the different components of the range can reduce the studying accuracy and speed for networks.