The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We have developed a humanoid robot (a cybernetic human called “HRP-4C”) which has the appearance and shape of a human being, can walk and move like one, and interacts with humans using speech recognition. Standing 158 cm tall and weighing 43 kg (including the battery), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. In this paper, we present...
A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum...
This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a...
This paper presents preliminary results on generating walking and turning motion of a humanoid robot based on human motion data obtained by using motion capturing system. The target humanoid robot is recently released HRP-4C, which looks like a Japanese woman with realistic geometry. One of the main uses of this robot is to be entertainment. Therefore it is important that the robot's motions are easily...
HRP-4C is our novel biped humanoid robot whose body shape and face appearance are quite similar to those of female humans. It can make not only various whole body motions including biped locomotion but also various facial motions using eleven axes joints inside the head. This paper focuses on the face of HRP-4C, the mechanical structure of it and the software system for creating its facial motions...
The development of cybernetic human HRP-4C is presented in this paper. The word ??cybernetic human?? is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for humanoid robotics platform-4 (cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values...
In this paper, we generate the biped gait of a humanoid robot that looks like a human's one. To generate the human like motion, we first capture walking motion of a human. Then, we analyze the captured data and obtain several information such as the relationship between the step length and waist height etc. We consider applying these informations to the real humanoid robot. Also, when the human walks,...
This paper presents a method to generate motion from human motion for a humanoid robot with physical limits. The method focuses on representing constraints for angle, collision, velocity, and dynamic force as B-spline coefficients. The constraints can be applied for offline optimization and online filtering. For optimization, the objective function is responsible for mimicking human trainers, while...
This paper presents preliminary results on generating turning motion of a humanoid robot by slipping the feet on the ground. We start by presenting the fact that such slip motion is used by humans based on actual human motion capture data, and show how this is necessary for sophisticated human-like motion. To generate the slip motion, we predict the amount of slip using the hypothesis that the turning...
This paper presents a biped humanoid robot that is able to walk on a rough terrain while touching a handrail. The contact wrench sum (CWS for short) is used as the criterion to judge if the contact between the robot and the environment is strongly stable under the sufficient friction assumption, where the contact points are not coplanar and the normal vectors at the points are not identical. It is...
This paper proposes the kinodynamic gait planning for humanoid robots where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robotpsilas CoG. To solve this constraint, we assume two walking...
This paper proposes a method to model the modification of upper body motion of dance performance based on the speed of played music. When we observed structured dance motion performed at a normal music playback speed and motion performed at a faster music playback speed, we found that the detail of each motion is slightly different while the whole of the dance motion is similar in both cases. This...
This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot. An optimal control is applied to generate the falling motion of HRP-2FX to minimize a performance index,...
We propose a simulation system that achieves realistic and efficient simulations of humanoid robots. This paper focuses on a constraint-based contact force solver and virtual spring-damper joints from among the components of the system. The contact force solver can accurately simulate contacts between rigid bodies including articulated rigid bodies. LCP-like formulation of constraint conditions is...
We discuss a ZMP-based running pattern generation for a biped robot equipped with toe springs. Our biped robot HRP-2LT has twelve active DoFs for its legs and two passive DoFs for its toes. The trajectory of the center of mass is designed to realize the specified running motion and the foot trajectories are determined to get proper spring action at lift off phases. They are interpreted into joint...
This paper proposes a method of a real-time gait planning for humanoid robots which can change stride immediately at every step. Based on an analytical solution of an inverted pendulum model, the trajectories of the COG (center of gravity) and the ZMP (zero-moment point) are parameterized by polynomials. Since their coefficients can be efficiently computed with given boundary conditions, this framework...
This paper presents a motion planner of getting up motion using Mahalanobis distance. It is an indispensable function for humanoid robots to get up by itself and some humanoid robots are able to get up by themselves, but the motion can start only from the states specified a prior. The robots have to get up from an arbitrary lying state which may result after an unexpected falling. The proposed method...
This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact...
This paper presents a method to optimize and filter trajectories generated from recorded human motion for a humanoid robot with physical limits. The objective function is responsible for mimicking human trainers, enhancing the possibility for fast convergence, while constraints are used to transform motion within the limit of the capabilities of the humanoid robot. Those constraints for angle, velocity,...
The strain dependence of the critical current, I c , of Ag and Ag-alloy sheathed Bi2223 composite superconducting tapes has been studied under bending deformation. The tensile stress-strain behavior of the composite tapes was first analyzed to determine several unknown parameters such as Young's modulus, yield strength and the thermal expansion coefficients of each component. In this analysis,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.