대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2006년도 하계종합학술대회
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- Pages.839-840
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- 2006
이족로봇을 이용한 이동물체 추적 기법
A Scheme Tracking a Moving Object for Biped Robot
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Park, Sang-Bum
(Soongsil University) ;
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Lee, Boo-Hyung
(Kongju National University) ;
- Han, Young-Joon (Soongsil University) ;
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Hahn, Hern-Soo
(Soongsil University)
- 발행 : 2006.06.21
초록
Our paper proposes a novel moving object tracking scheme for biped robot using a single camera. For walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum model. This analysis leads us a simple linear dynamics. And, the control parameter of the biped robot is derived from the feedback signal which converges the position of a image feature to the feature position of a desired image and the feedforward signal which compensates the motion component due to the moving object.
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