Tham khảo tài liệu 'advances in haptics part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 6 Implementation of a Wireless Haptic Controller for Humanoid Robot Walking Eun-Su Kim Man-Seok Kim Johwan Kim Sang Woo Kim and Jong-Wook Kim Dong-A University Pohang University of Science and Technology Korea 1. Introduction Humanoid robots are the most proper type of robots for providing humans with various intelligent services since it has a human-like body structure and high mobility. Despite this prosperity operation of the humanoid robot requires complicated techniques for performing biped walking and various motions. Thus the technical advancement concerning humanoid motion is somewhat sluggish. For attracting more engineering interest to humanoids it is necessary that one should be able to manipulate a humanoid with such easiness as driving an remote control RC car by a wireless controller. In doing so they will watch the motion and learn intrinsic principles naturally. Actually however only a few well-trained experts can deal with a humanoid robot of their own assembling as often seen in robot shows. This limitation may be due to the lack of unified and systemized principles on kinematics dynamics and trajectory generation for a humanoid. For biped walking modeling of the humanoid for deriving kinematics and dynamics is to be constructed first. Humanoid modeling can be roughly classified into two categories the inverted pendulum model Park et al. 1998 Kajita et al. 2001 Kajita et al. 2003 and the joint-link model Huang et al. 2001 Lim et al. 2002 Jeon et al. 2004 Park et al. 2006 . The former approach is such that a humanoid is simplified as an inverted pendulum which connects the supporting foot and the center of mass CoM of the whole body. Owing to the limited knowledge in dynamics this approach considerably relies on feedback control in walking. On the contrary the latter approach requires the precise knowledge of robot specification concerning each link including mass moment of inertia and the position of CoM. This complexity in modeling however leads
