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Humans utilize the configuration with extended knees to achieve efficient walk. A humanoid robot, however, cannot do so, since this posture is a singular configuration. In order to tackle this problem, in our previous work, a walking pattern generator based on the spherical inverted pendulum model has been proposed. It enables to generate up-and-down waist motions and utilizes the singularity neighborhood...
Humanoid robots demand high performance on actuators, such as power-to-weight ratio, durability, occupation volume, and freedom of placement. Also, for robots to interact with unknown objects, flexibility is necessary. Backdrivability is effective when both flexibility and high output torque needs to be realized, which were often contradicting requirement. In this paper, backdrivable hydrostatic transmission...
This paper presents a new real-time walking pattern generator that calculates center of mass trajectories from footstep locations. Key features are the calculation of reference torque patterns by quadratic programming and the solution of the equations of motion by spline collocation. Fast real-time planning is combined with offline optimisation of free parameters based on a comprehensive simulation...
Multiple strategies for standing balance have been observed in humans, including using the ankles to apply torque to the ground, using the hips and/or arms to generate horizontal ground forces, and using the knees and hips to squat. This paper shows that multiple strategies can arise from the same optimization criterion. It is likely that humanoid robots will exhibit the same balance strategies as...
We present a method for learning capture points for humanoid push recovery. A capture point is a point on the ground to which the biped can step and stop without requiring another step. Being able to predict the location of such points is very useful for recovery from significant disturbances, such as after being pushed. While dynamic models can be used to compute capture points, model assumptions...
This paper reports on the applicability of our passivity-based contact force control framework for humanoids. We present its adaptation to unknown rough terrain. The adaptation to uneven ground is achieved by an optimally-distributed anti-gravitational forces applied to preset contact points in a feed-forward manner even without explicitly measuring the external forces or the terrain shape. The adaptation...
The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance controller...
There are not much methods for humanoid robots to path-plan movements such as piggyback-carry, firefighter-lift or giving a shoulder to support the gait of another. Such methods are essential to apply humanoid robots for rescuing people in emergency, or for taking care of injured/elderly people in the hospital. It is difficult to plan such motions as they require the limbs of the humanoids to be tangled...
Physical humanoids often require the ability to maintain upright balance while performing various tasks involving locomotion and environmental interaction. Such balance requirements have been difficult to maintain with traditional approaches to articulated motion control. We claim that these difficulties are significantly due the use of parent-space in standard proportional-derivative (PD) servoing,...
An apprentice is an able-bodied individual that should interactively assist an expert, and through this interaction, they should acquire knowledge and skill in the given task domain. In this context the robot should have a useful repertoire of sensory-motor acts that the human can command with spoken language. In order to address the additional requirements for learning new behaviors, the robot should...
This paper proposes a new method of trajectory planning for biped robots walking on level ground. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the trajectories are searched by genetic algorithm. The objective is to obtain the best trajectory that has large stability margin and low energy consumption...
We extend simple models previously developed for humanoids to large push recovery. Using these simple models, we develop analytic decision surfaces that are functions of reference points, such as the center of mass and center of pressure, that predict whether or not a fall is inevitable. We explore three strategies for recovery: 1) using ankle torques, 2) moving internal joints, and 3) taking a step...
Low-cost dynamics is a key issue in planning complex motions. This paper aims at proposing a fast algorithm in order to simulate aerial motions for humanoids while using motion capture data. As the real subject has obviously different anthropometric parameters than the synthetic robot, directly applying motion capture data leads to a non-respect of physical laws. As a consequence, the humanoid can...
In this paper we describe the actuation and control of a humanoid robot neck. Particular attention will be posed on the description of the neck actuation structure, whose design has a noticeable human similarity. Specifically, the final mechanical design was inspired by the human skeleton, with the neck bone movements constrained and actuated by the surrounding muscles. In our robotic platform, the...
We present a new learning framework for synthesizing goal-directed actions from example movements. The approach is based on the memorization of training data and locally weighted regression to compute suitable movements for a large range of situations. The proposed method avoids making specific assumptions about an adequate representation of the task. Instead, we use a general representation based...
This paper presents design, control and implementation of the humanoid robot platform Robo-Erectus Senior (RESr-1). It is a full-size humanoid robot using self-contained modular component to perform cooperative works in general humanoid environment and robotic soccer (RoboCup) in particular. Mechatronic drives has cubic or double design with multiple connecting sockets in different orientations. Thereby,...
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