| dc.description.abstract | The study work “The design and realization of interactive biped robots” was completed by three members. Three members accomplish the following three tasks, respectively, (A) gesture recognition, (B) basic motions’ control of biped robots, and (C) execution of interactive algorithm for two robots. This thesis focuses on the part (B) basic motions’ control of biped robots.
The goal of this thesis is to design control techniques to control a pair of biped robots such that they can achieve the following basic motions, walk forward and backward smoothly, shift right and left, turn right and left, squat down and stand up, bow and push-up. Finally, these motions will be applied to the interaction between two robots. The control techniques for those basic motions contain “torque control”, “linear interpolation”, “delay-time control”, and “mirror projection” etc. Furthermore, in order to carry the object successfully, we also design a control strategy such that the robot can clip the object. In the clipping motion control, the robot can read and analyze the feedback information from the actuators of arms, and then clip the object tightly; even the width of the object is not measured in advance. In a conclusion, this thesis accomplishes the basic motions’ control of a robot and applies the control to the object transportation between two robots successfully. | en_US |