Study on similarity imitation constraints of biped walking for humanoid robot (Q391716)

Summary: Similarity motion imitation on humanoid robot from the captured tracks of human actor has attracted more and more attention. We described the basic system of similarity imitation that was formed by three modules -- the image capture, imitation control and imitation on real robot. The similarity degree was analysed by the differences of angle, angular velocity and acceleration between human actor and robot, and the function of spatio-temporal harmony for simultaneous actions was provided as well. In order to make the humanoid robot walk like the human actor by following the captured tracks, the constraints of kinematics and zero moment point (ZMP) shall be considered. We proposed a method of similarity imitation constraint on biped walking for humanoid robot. The walking process was divided into three phases and the corresponding kinematics and ZMP constraints were set on them. Besides, the trigonometric functions were used to connect the consecutive phases to make the track smooth, and the constraint of avoiding singular pose was also accomplished by making the knee flexible. We applied the constraints of similarity imitation and reached the similar biped walking on the humanoid robot Aldebaran Nao.