NDLI: Self-balancing control and manipulation of a glove puppet robot on a two-wheel mobile platform

Content Provider	IEEE Xplore Digital Library
Author	Jwu-Sheng Hu Jyun-Ji Wang Guan-Cyun Sun
Copyright Year	2009
Description	Author affiliation: Department of Electrical and Control Engineering, National Chiao Tung University, Hsinchu 300, Taiwan, ROC (Jwu-Sheng Hu) \|\| Department of Electrical and Control Engineering, National Chiao Tung University, Taiwan, ROC (Jyun-Ji Wang; Guan-Cyun Sun)
Abstract	This video shows a continuing work of the glove puppet robot presented before [1]. The major improvement from the previous work is to mount the 9-DOF mechanism, which mimicking a glove puppet manipulation, on a two-wheel mobile platform. The platform provides agile movements of the robot but itself is an unstable system. Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile. To minimize the footprint of electronics, the controller is implemented using an 8-bit single-chip microcontroller. Further, to enhance the interaction capability of the system, a simple gesture coding using dynamic time warping[2] identification method with Markov model is implemented for the data glove to recognize the puppet gesture by human hand.
Starting Page	424
Ending Page	425
File Size	199767
Page Count	2
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354197
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Data gloves Robot control Intelligent robots Motion control Control engineering Control systems Sun Torque control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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