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.
Generating natural motion of an articulated object with higher DOF (e.g., humanoid robot and robot hand) is a crucial issue in robotics and computer graphics fields. Use of the motion capture data is one of the solutions, but it requires expensive device and time-consuming measurement. In this paper, we propose a method for generating natural hand motion to play a piano from the inputted music score...
Humanoid robots should be able to stand and walk despite reasonable external disturbances. This paper addresses the robustness of a humanoid robot to unknown disturbances. Although there are control methods to absorb the disturbances based on the COG-ZMP inverted pendulum model, they do not consider the physical constraint on ZMP. In this paper, the authors enable the control law to consider the physical...
This paper presents a dynamics simulator that can handle complex robotic systems including position-controlled joints and closed kinematic chains. We first extend our prevous algorithm for linear-time forward dynamics algorithm to handle closed kinematic chains. The extended algorithm is formally presented for the first time. We then present another extension that allows position-controlled joints,...
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...
In this paper, we propose "Humanoid Vision". Humanoid robots are becoming like human and imitating human behavior. They usually have camera, then we consider that eyes for humanoid robot have to be "Humanoid Vision". Humanoid Vision is the vision system which is focused on human actions of the robot, and emulation of human beings. Therefore, we analyzed the human action of tracking...
Communication skill is essential for social robots in various environments such as homes, offices, and hospitals, where the robots are expected to interact with humans. In this paper, we model the primitive nonverbal communication between two persons by mimetic communication model. The model consists of three groups of hidden Markov models (HMMs) hierarchically combined to recognize motions of the...
This paper presents an online dynamical retouch method of referential motion patterns for humanoid robots. It converts transition sequences of desired posture and supporting state which are rough in terms of both time and space to a set of smooth piecewise functions applicable to actual robots with dynamical constraints taken into account. It is based on boundary condition relaxation method, and has...
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.