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This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task, taking the ping-pong rally task against human as an example. The robot system includes the arm mechanism, real-time stereo vision sub-system, ball trajectory prediction, racket motion trajectory planning, and distributed joint controllers. The algorithms for ball identification, ball...
Biped walking control and motion planning of humanoid robots have been researched for a long time and have made great progress. In order to serve people, the humanoid's arm should appear natural, have large working space and be easy to avoid obstacles In this paper a 7DOF manipulator with the same joint configuration as human's arm and its planning algorithm is proposed. The arm imitates the posture...
In this paper we describe the planning and control of obstacle negotiating of MOBIT, which is targeted to applications in various hazardous environments to carry out military and civilian missions. The planning and control for MOBITpsilas obstacle negotiating have some individualities because of its multi-locomotion modes and special negotiating methods. Considering the interaction factors between...
The humanoid robot is expected to operate in hazardous and emergency environments. So teleoperation is necessary to control the remote robot. Simulation is one of the key technologies in teleoperation system. This paper puts forward 3D-simulation for the teleoperation of the humanoid robot BHR-02 based on Maya and VC++. The robot model is built based on the real robot structure and moving character...
Most of conventional biped robots without waist joint walk with bending knee joints and canpsilat move lower limb when the position of feet and waist are fixed. This paper proposes a novel biped mechanism with 7 DOFs and double spherical hip joint, which has two advantages compared to the conventional biped mechanism. First, the double spherical joint can realize the basic function of the waist motion...
This paper presents a humanoid robot BHR-2 capable of performing stepping on and off a flat obstacle of known dimension. The trajectory comprises of two phases for the task completion. The first phase starts with the left foot raised from the ground and reaching the obstacle base tracking the trajectory points generated by spline interpolation. The end of the first phase is the state when both feet...
Stability balance is a very important issue of the motion planning humanoid robot. Theoretically, the motion which has the higher stability is more stable, so how to evaluate the stability is very important in the motion planning for humanoid robot. Some researchers have proposed stability evaluation method based on ZMP, the stability margin is used to evaluate the stability, however these method...
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