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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,...
The contribution of this paper is twofold. First, we present a new conceptual framework for modeling incremental hierarchical behavior control systems for humanoids. The biological motivation and the key elements are discussed. Second, we show our current instance of such a behavior control system, called ALIS. It is designed according to the concepts presented within the framework. The system is...
In this paper, we propose a novel method to generate optimal robot motion based on a sequence of attractor dynamics in task space. This is motivated by the biological evidence that movements in the motor cortex of animals are encoded in a similar fashion- and by the need for compact movement representations on which efficient optimization can be performed. We represent the motion as a sequence of...
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