Autonomous Robot

What’s motion control?

 Because the humanoid have many degrees of freedom it is extremely difficult to decide its motion. In order to solve this problem, it is believed that embedding information of human motion is effective in deciding and controlling the motion of Humanoid.
However, the control is not possible only by inputting/providing the information of human motion because the link structure and inertia are different for both ‘human’ and ‘humanoid’. In our laboratory, the method called ‘Phase Sequence’ is adapted to overcome this difficulty.


What is Phase Sequence?

 Phase Sequence is one of the technique used to solve the problem of the differences of inertia between human and humanoid that arise when applying the information of human motion to humanoid. At first, the information of human motion is dissolved into the basic motion called ‘Task’. Task indicates walking, standing-up, sitting-down movements and so on. Next, the task is dissolved into ‘Phase’. As the phase doesn’t depend on the difference of the system it can be recomposed in order to apply to a system of different humanoid. The phase is the control measure, which doesn’t depend on the difference in system.