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Kinematic Modeling of Humanoid Robot for Human Pose Estimation
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휴먼 포즈 추정을 위한 휴머노이드 로봇 기구학 모델링

논문 기본 정보

Type
Proceeding
Author
Su-Jin Baek (동아대학교) A-Hyeon Kim (동아대학교) Jong-Wook Kim (동아대학교)
Journal
Korean Institute of Information Technology Proceedings of KIIT Conference The Proceedings of the 2023 KIIT Summer Conference
Published
2023.6
Pages
307 - 310 (4page)

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Kinematic Modeling of Humanoid Robot for Human Pose Estimation
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In this paper, we introduce the results of modeling the humanoid robot"s whole body as the beginning of a study to estimate the joint angles of the whole body using the FSR sensor on the sole of the humanoid robot. The whole body was modeled based on the Denavit-Hartenberg (DH) method using the link length and joint motor information of the upper and lower body, and relational expressions are derived to convert the Vicon joint angle, which is often used to express the human body joint angle, to the robot joint angle. In the future, by identifying the relationship between the FSR sensor data measured while the humanoid robot is walking and the measured angle of each joint based on a model, we will apply the present method to a study of gait joint angle estimation using smart shoes using TPU (Thermoplastic Polyurethane) material as a pressure sensor.
#Kinematics #Center of Pressure #Humanoid robot #Pose estimation

Contents

요약
Abstract
Ⅰ. 서론
Ⅱ. 휴머노이드 로봇 모델링
Ⅲ. 결론
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