tailieunhanh - Gait of quadruped robot and interaction based on gesture recognition

This paper proposed a gait planning for quadruped robot pet. Kinematic structure was established and two-phase discontinuous gait was suggested for straight-line motion of quadruped robot. | Journal of Automation and Control Engineering Vol. 4, No. 1, February 2016 Gait of Quadruped Robot and Interaction Based on Gesture Recognition Nguyen Truong Thinh, Nguyen Tan Viet Tuyen, and Dang Thai Son Department of Mechatronics, Ho Chi Minh City University of Technical and Education, Ho Chi Minh City, Vietnam Email: thinhnt@, {ngtvtuyen, dangthaison11144clc2}@ Abstract—This paper proposed a gait planning for quadruped robot pet. Kinematic structure was established and two-phase discontinuous gait was suggested for straight-line motion of quadruped robot. This system was implemented in a real quadruped pet robot which also embedded smartphone as a powerful computer for data analysis and human-machine interaction based on gesture recognition. Experiment result was carried out to verify the proposed gait planning and the gesture recognition for the interaction. Tracking from human Result proved that smartphone performed the high responsibility as well as PC for analysis [2]. In medical fields, Ngai Man [3] successful apply mobile imaging system for early diagnosis of skin cancer. Smartphone is embedded several hardware such as Wifi, Bluetooth and USB connection module, camera and NFC modules. It is also supplied various sensors. Thanks to this supports, robot could be embedded smartphone as a potential computer instead of specialized module. As the result, this paper proposed using smartphone for quadruped robot to perform a particular purpose. Image algorithms are applied to adapt with various human gesture. Mechanical structure of quadruped robot with 13 degrees of freedom is also designed which implemented small size of dog pet. Kinematics of quadruped robot was applied to imitate the dog walking gait. Index Terms—quadruped robot, smartphone, gait, gesture recognition I. INTRODUCTION Legged robotics is a continuously growing technology with more attention focused on dynamic control of such robots during locomotion. Thanks to .