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A motion planning method for humanoid robots in life environments is proposed based on a two-stage approach, where a sequence of double support postures to represent discrete milestones of the biped locomotion is planned first, and then, a time series of the whole body configuration to interpolate them. This paper discusses the first stage. RRT (Rapidly-explored Random Tree) is utilized for the planning...
A robust numerical solution to the inverse kinematics is presented based on Levenberg-Marquardt method. The equation solvability in addition to the singularity doesn't concern the method; even in cases where the problem doesn't have solutions or has countless solutions, it converges to the optimum solution in the sense that it minimizes the residual from the target points with the smallest joint deviations...
A robust self-consistent humanoid navigation method is proposed. For any given targeted position and orientation, the robot robustly chases them without bankruptcies such as leg-crossing, excess stride and deadlock. The key idea is to define a canonical stance with respect to the target independently from the current configuration, and trace them by each step alternately. It locally prioritizes the...
The goal of this paper is to answer (i) how the stabilization performance of a biped controller can be evaluated on a certain invariant supporting region, (ii) how the standing stabilizer which performs the best on a given supporting region can be designed, (iii) how the system can be judged if it is stabilizable by the best standing stabilizer without deforming the current supporting region, and...
In this paper, the authors propose a novel toe joint mechanism using a parallel four-bar linkage. This mechanism enables a humanoid robot to contact with the floor at points of a multilink, namely the toe pad and toe tips, similar to human motion. Using this toe mechanism, a major part of the reaction force acts on the non-movable portion of a link rather than on the toe tip. Because of this, it is...
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