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Bipedal humanoid robots will fall under unforeseen perturbations without active stabilization. Humans use dynamic full body behaviors in response to perturbations, and recent bipedal robot controllers for balancing are based upon human biomechanical responses. However these controllers rely on simplified physical models and accurate state information, making them less effective on physical robots...
Imitating the motion of a human operator is an intuitive and efficient way to make humanoid robots perform complex, human-like behaviors. With the help of recently introduced affordable and real-time depth sensors, the real time imitation of human behavior has become more feasible. However, due to their small footprint and high center of mass, humanoid robots are not inherently stable. The momentum...
During heavy work, humans utilize whole body motions in order to generate large forces. In extreme cases, exaggerated weight shifts are used to impart large impact forces. There have been approaches to design stable whole body impact motions based on precise dynamic models of the robot and the target object, but they have practical limitations as the uncertainty in the ensuing reaction forces can...
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