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Locomotion stability of a humanoid robot is closely related to the capacity to regulate its Center of Mass (CoM) motion. In this paper, the Feasible Center of Mass Dynamic Manipulability (FCDM) is introduced and analyzed as a measure of this capacity. The effects of posture, joint velocities and gravity on the torque-bounded dynamic manipulability ellipsoid are first analyzed on an n-DOF planar humanoid...
This paper aims to report on the technical development and the realization of the world first robot theatre performance with a cast comprising two biped androids and two twin-wheeled two-armed humanoid robots. Each of the biped androids has a head with human-face, capable of showing multiple facial expressions, and a pair of 7 DOF arms with a multi-jointed hand capable of grabbing objects of various...
In this paper, HNM (harmonic plus noise model) is enhanced and used to design a scheme for synthesizing Mandarin singing voice. Enhancements made include synthesizing signals with higher fluency level and keeping the timbre of synthetic singing voices consistent. In terms of the signal synthesis equations rewritten here, a Mandarin singing voice synthesis system is constructed, in which each Mandarin...
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