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A planar biped robot that can generate continuous walking with body pose information is presented in this paper. It employs semi-passive structure, which consists of five links connected by two active hip joints and two passive knee joints, in order to mimic human-like walking motion utilizing the principle of pendulum dynamics. Besides, a specialized passive joint is proposed and installed at both...
This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust...
This paper investigates a collision-free navigation algorithm for a mobile robot to work in daily environment which includes multiple walking people. The proposed algorithm consists of two main parts: recognizing walking people and collision-free path planning. For the recognition of randomly changing human walking motion, a people tracking method using laser range finder (LRF) is utilized. Robust...
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