A sensory data tracking approach to bipedal gait compensation control on slope surfaces

Wu, Chiao-Min; Song, Kai‐Tai

doi:10.1109/ascc.2013.6606192

Cited by 2 publications

(1 citation statement)

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“…Sung et al [3] proposed a robust control algorithm for stable walking based on the ground reaction forces, which are measured and estimated using force sensors during walking, and the terrain conditions. Wu and Song [4] proposed a novel gait compensating method using sensory data tracking such that an NAO robot can keep balance and walk on slope surfaces. The real-time compensation control system works to adjust the gait and thus make online sensory data to track the stored target sensory data.…”

Section: Introductionmentioning

confidence: 99%

Development of Tracking System for Mobile Robot Using Image Recognition Algorithms

Hsia

2015

Transactions of the Canadian Society for Mechanical Engineering

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In this paper, an intelligent mobile robot using image processing technology is developed. The mobile robot contains an image system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC-based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The image processing based on OpenCV uses two different tracking methods to track moving targets: MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection). The efficiency of both methods for tracking the moving target on the mobile robot is compared here. The balance control system, with a HOLTEK Semiconductor Company’s HT66F Series 8-bit microprocessor as the processor, uses the PID control law according to the feedback signals of the inclinometer sensor to control the balance level of the loading platform.

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Section: Introductionmentioning

confidence: 99%