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The objective of humanoid navigation is to plan the global locomotion path for humanoid robots in complex global environments. It is different from wheeled mobile robot navigation because of the biped's unique abilities to step upon/over obstacles and the stability requirement is difficult. Sampling-based footstep planning that considers the aforementioned characteristics is a goal-directed navigation...
Global humanoid footstep planning in complex domestic environments is different from mobile robot path planning because humanoid robots do not always circumvent obstacles considering their unique capabilities of stepping over or upon certain obstacles. This paper presents a deterministic sampling-based approach to global footstep planning for humanoid robots, which not only considers this unique locomotion...
Existing approaches to biped gait generation always need to assume appropriate parameter conditions of the walking patterns. To accomplish this, this paper aims to experimentally investigate the characteristics of the human walking, and reveal, to some extent, its balance strategies. The experimental study was carried out on a self-designed human walking testing platform, which captures the joint...
In our previous work, a random sampling-based footstep planner has been proposed for global biped navigation in environments with local minima or narrow passages. Goal-Probability Threshold (GPT) is a key parameter which controls the convergence rate of the goal-biased non-uniform sampling in this planner. In this paper, a GPT optimization approach is explained. We construct a benchmarking model,...
Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every...
An ultrasound-guided interventional robotic system includes the image navigation system, the interventional robot, and the electro-magnetic tracking unit, among which the interventional robot is a key issue affecting the therapy effect of the interventional therapy. According to the requirements of the clinical interventional therapy, an interventional robot, THMR-I, is designed. The robot combines...
This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a...
Global path planning and navigation strategies for humanoid robots are different from those for mobile robots, since humanoid robots can step over or upon some obstacles. Sampling-based footstep planning is a goal-directed navigation approach for humanoid robots which considers both this unique locomotion capability and the global environment information. However, existing humanoid footstep planning...
The infant-size humanoid robot THBIP-II, Tsinghua University biped robot II, is the second generation prototype of Tsinghua biped robots. THBIP-II is 75 cm tall, weighs 18 Kg, and has 24 degrees of freedom (DOF). This paper addresses the design, mechanical modeling, gait planning method, and global footstep planning method of the robot. First the humanoid mechatronics system and its kinematics and...
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