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In this paper, a humanoid is simulated and implemented to walk up and down a staircase using the blending polynomial and genetic algorithm (GA). Both ascending and descending a staircase are scheduled by four steps. Each step mimics natural gait of human being and is easy to analyze and implement. Optimal trajectories of ten motors in a lower extremity of a humanoid are rigorously computed to simultaneously...
Humans have various emotion types which affect speculation, making decisions, behavior, and the like. In particular, walking is also affected by temporal emotion status, which can be easily inferred by his or her walking style and pattern. So far, researches on biped walking with humanoid robots have been mainly focused on stable walking irrespective of ground condition. For effective human-robot...
This paper deals with humanoid robot's standing on the inclined floor with a walk-ready posture, which is usual in human's living environment. To this end, inverse kinematic method is newly proposed using the projection method and Taylor polynomial expansion. In addition, each joint angle in the legs is adjusted according to the scheme with which the robot is aligned with the modified gravity force...
This paper presents a methodology to reflect human characters into humanoid walking motion. First, human's cyclic walking is simulated by a three-period scheme. Second, joint trajectories of the proposed walking scheme are parameterized by several parameters. Third, we propose a reasonable method to reflect representative human characters such as quick-tempered vs. relaxed, manly vs. feminine into...
Humanoid robot is the most popular robot type, which requires biped walking as a basic locomotion technique. This paper newly proposes a design technique of two-stage gait cycle adopting the joint angle data for normal walking, interpolation techniques with blending polynomial, and PSO as a global optimization method. Effectiveness of the proposed gait design scheme is verified through simulation.
This paper proposes a new approach to generate joint trajectories of a humanoid robot for kicking forward, which is one of the basic motions in Taekwondo. This type of motion generation is regarded difficult because of high dimensional complexities under the Denavit-Hartenberg kinematic convention especially in case of the humanoid robot. However, the projection based kinematics enables us to intuitively...
In this paper, we propose new motion schemes for a biped robot to walk up and down a staircase using dynamic encoding algorithm for searches (DEAS) for optimization. Ascending and descending a staircase are scheduled by four phases for convenience of motion generation. Each phase mimics the natural gait of a human being and is easy to analyze and implement. Optimal trajectories of 10 joint motors...
In this paper, a wireless haptic controller is newly implemented, which dictates a humanoid robot to move according to userpsilas commands. The controller is equipped with a TFT-LCD for showing camera images, a joy stick for changing walking direction and speed, function buttons for stopping and starting walking, and a haptic actuator for delivering the current walking status. This paper provides...
In this paper, the recent optimization method uDEAS (univariate dynamic encoding algorithm for searches) is used for generation of biped walking patterns of a humanoid robot. The walking patterns made of optimal blending polynomials are simulated for a simple six degree-of-freedom biped model. uDEAS plays a key role to optimize polynomial coefficients in trajectories assigned to each joint motor....
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