Hybrid-IMU 기반 신체모션캡처를 이용한 휴먼노이드 로봇의 원격 제어

Abstract

The Humanoid robot is the area that the researchers who are not only in this country but also the international groups have studied and developed technologies in many ways for a long time. Various functions have been studied and developed for human-robot interaction, and the noticeable hardware and software developments have been achieved for the better performance of human type movement. Not only the shape of human but also human type motions are required to humanoid robot. Along with this, we have studied mapping between the human and robot to have robot able to learn human type motion through real time control and duplication. We developed the small Hybrid-IMU device module which is convenient equipped with to install and use for the technical application. It was designed by using gyroscope, accelerometer and the earth magnetic sensor and developed with Bluetooth module inside for the wireless communication. These modules are attached to each human joint to collect the information about the location and moving route. And the humanoid robot was developed to duplicate human motion at real time using this information from human joints. This system allowed us to track the motions of the human joints, arms and legs without expensive camera. The data of the tracked human motion was transmitted to the humanoid robot to apply, and we developed 2 legged walking robot which was equipped with Zigbee wireless network function to test the system. And we also developed digital servo motor with wireless communication network inside, which is different from existing wired control system. The convenient remote control of the robot from a distance became able through the control of each servo motor by wireless communication network