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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...
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,...
Human beings perform complex tasks while even keeping balance. Though this is evident for a human, it is very difficult to adapt human motion to humanoid robots, due to the posture redundancy. In this paper we propose a conceptually simple framework of human posture control, scoping in a general way with grasp, task achievement and being on the same time robust to external disturbances. We do this...
Stable walking is the essential ability for the humanoid robot. One of the conditions to achieve a stable robot walking is to maintain the real trajectory of each joint, affected by different disturbances, more similar to the ideal one. This paper considers an identification of dynamical parameters and then a design of joint's controller for a humanoid robot. Moreover, the additional study was carried...
In this paper, we present a recursive method for the optimization of humanoid robot motions. The method is based on an efficient dynamics algorithm, which allows the calculation of the gradient function with respect to the control parameters analytically. The algorithm makes use of the theory of Lie groups and Lie algebra. The main objective of this method is to smooth the pre-calculated humanoid...
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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