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The objective of this paper is to present a percussive massage based on robotic tapping motion, and it is also the first paper to discuss the massage technique for this kind. The tapping motion is different from the common contact motion, it satisfies with the short-time contact on human muscles, and the robot end-effector itself has an initial velocity and acceleration to make an impulse contact...
In this paper, we present a trajectory generation system including a push-recovery trajectory generator to handle the push-recovery problems. We analyze the human reactions to external pushes, and construct controller mimicking human reaction in realizing on biped robot system. In the experimental scenario, we provide disturbances from planar directions to evaluate the feasibility of the system. The...
In this paper, an erect stair climbing robot, which has been able to ascend stairs, is further developed for descending stairs automatically. The somatosensory control functions are also implemented for a human rider to drive the robot on flat ground as a personal vehicle instinctively. In order to face front whether climbing up or down stairs, the robot is designed with proper mechanical structure...
In this paper, we proposes an approach to generate arbitrary quasi-natural foot gait for the walking biped robot with variate COM height preview control. The arbitrary foot gait planning is generated by zero moment point (ZMP) mapping method and a curve with certain radius. In order to walk smoothly in turning gait, the walking pattern is designed in variate height COM motion. However, this method...
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