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This paper proposes a new approach named Multi-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method (path planning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible...
A completely stepwise online pedipulation planning method is proposed. It is an analytical approach based on the general solution of the equation of motion of an approximate dynamical biped model whose mass is concentrated at the center of mass. A physically feasible referential trajectory with a constraint about the reaction force taken into account is planned only in one interval by relaxing the...
This paper describes an approach for on-line, incremental learning of full body motion primitives from observation of human motion. The continuous observation sequence is first partitioned into motion segments, using stochastic segmentation. Motion segments are next incrementally clustered and organized into a hierarchical tree structure representing the known motion primitives. Motion primitives...
This paper deals with the imitation of human motions by a humanoid robot based on marker point measurements from a 3D motion capture system. For imitating the humanpsilas motion, we propose a Cartesian control approach in which a set of control points on the humanoid is selected and the robot is virtually connected to the measured marker points via translational springs. The forces according to these...
Boundary condition relaxation (BCR) method proposed by the authors (2005) is enhanced to enable 3D hopping motion plannings from arbitrary initial conditions. The original BCR has an advantage that stepwise legged motion planning is realized in online by accepting an error from the desired goal state of the center of mass (COM) and discontinuity of the trajectory of the zero-moment point (ZMP). The...
A hierarchical model incorporating motion patterns, proto symbols and words is proposed. The proto symbols abstract motion patterns, while the words are associated with the proto symbols stochastically. This paper describes the construction of a word space, where words are located in a multidimensional space based on dissimilarities among the words. The dissimilarity between two words can be calculated...
Generally, imitation of a motion means generation of a close motion to the observation. Moreover, it means that conversion into its own motion, which is adoptable to its body structure, by integrating with its prior knowledge. From this perspective, a new imitation scheme is proposed. The scheme is based on hidden Markov models by employing Viterbi algorithm. The proposed scheme enables to imitate...
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...
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