Trajectory Correcting Algorithm of Active Dancing Robot Based on IMU

Abstract

This paper presents a trajectory correcting control algorithm of active dancing robot based on IMU (Inertial Measurement Unit). Kalman filter was used for obtained attitude angles caused by human. Threshold filter was used to eliminating the jitter errors. Relative attitude angles to velocity vector mapping could be got after state judgment. Combined expected velocity with the artificial velocity, actual motion trajectory and correction value of the rest points could be obtained. Test using Waltz step CCL (Closed Change Left) and CCR (Closed Change Right) shows the effectiveness and reliability of this control algorithm.