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In this paper, an analytic method for generating a unit step pattern using a center of mass (COM) constraint is presented. Using a unit step pattern with the COM position constrained in the supporting polygon at the end of each step, a robot can have a stationary time interval between steps to control and stabilize its posture. The walking pattern is based on the linear inverted pendulum model. Assuming...
This paper proposes a new 3D video stabilization method for a humanoid robot without explicit global camera motion estimation with respect to a reference frame. 2D video stabilization that uses a 2D camera motion model works well if scenes are far from the camera of the robot or can be modeled as a plane. However, because a humanoid robot operates in a real 3D space, these 2D video stabilization approaches...
This paper uses motion capture data to describe the interpolation of the upper body motion of humanoid robots. For the motion interpolation of humanoid robots, transition trajectory must be created. This trajectory should be based on consideration of the continuity between the first and second motions and the characteristics of humanoid robots, such as the limitations of the joint angle, velocity...
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