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In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected with single communication path for the imitation control. The key concept for autonomous control is added to let the robot stabilize by utilization of tracing the CoP (center of pressure) and controlling the ankle of the robot’s support foot prior to impact in real time. Thread programming technology is introduced to enhance the control and operation speed up, and explained how to operate joints. The experimental results demonstrate that the humanoid robot can successfully imitate the motions of the operator and can walk stably by both utilizing the CoP and controlling the robot’s ankles.

Implementation about Thread and Internet-based Motion Receiving Imitation Controller for Humanoid