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This paper addresses an integrated humanoid motion planning scheme including both advanced algorithmic motion planning technique and dynamic pattern generator so that the humanoid robot achieve tasks including dynamic motions. A two-stage approach is proposed for this goal. First, geometric and kinematic motion planner first computes collision-free paths for the humanoid robot. Then the dynamic pattern...
This paper presents a non-gaited motion planner for humanoid robots navigating very uneven and sloped terrain. The planner allows contact with any pre-designated part of the robot's body, since the use of hands or knees (in addition to feet) may be required to balance. It uses a probabilistic, sample-based approach to compute each step. One challenge of this approach is that most randomly sampled...
Despite the stable walking capabilities of modern biped humanoid robots, their ability to autonomously and safely navigate obstacle-filled, unpredictable environments has so far been limited. We present an approach to autonomous humanoid walking that combines vision-based sensing with a footstep planner, allowing the robot to navigate toward a desired goal position while avoiding obstacles. An environment...
This paper reports on the application of stereo vision localisation estimation techniques to a humanoid robot. Stereo vision has been used to localise wheeled robots with some success. Humanoid mounted stereo vision systems produce very jerky video sequences when the robot is walking. This can make the localisation task more problematic, especially when combined with the noisy nature of stereo depth,...
We present a three level architecture for humanoid robot navigation. The perception layer creates a 2D environment model from range data and foot step information and classifies areas into one of six different types. The control layer is organized into behavior modules each representing different motion capabilities of the robot. Based on the environment classification, a suitable sequence of actions...
For humanoid robots able to assist humans in their daily life, the capability for adequate interaction with human operators is a key feature. If one considers that more than 60% of human communication is conducted non-verbally (by using facial expressions and gestures), an important research topic is how interfaces for this non-verbal communication can be developed. To achieve this goal, several robotic...
Applying complex motions to humanoids involves to deal with different kinematic, kinetic and dynamic constraints. Although dynamics is more accurate to simulate humanoids, inverse kinematics is an alternative to rapidly calculate plausible movements required for motion planning. Humanoids motion planning that deals with numerous degrees of freedom requires numerous calls to inverse kinematics solvers...
This paper reports on the control structure of the pneumatic biped Lucy. The robot is actuated with pleated pneumatic artificial muscles, which have interesting characteristics that can be exploited for legged locomotion. They have a high power to weight ratio, an adaptable compliance and they can absorb impact effects. In a first part of this paper a discussion on the control architecture, which...
A development of humanoid robot HRP-3P, which is a humanoid robot HRP-3 prototype, is presented in this paper. HRP-3 is under development as the succession humanoid to HRP-2, which we developed in phase two of HRP (humanoid robotics project). One of futures of HRP-3P is that its main mechanical and structural components are designed for protection against dust and water. Another is that node controllers...
This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In particular, it requires that the robot bears a human likeness both in its body features and in the kinematics of its motions. In this paper, we present the design of a 23 degrees of freedom upper body for...
This paper presents a new tendon driven robotic eye. The system has been designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. The system consists of a sphere (the eye-ball), actuated by four independent tendons driven by four DC motors, integrated in the system. The eye-ball hosts a miniature CMOS color camera and is hold by a low friction support allowing...
We aim to realize a humanoid system which can do natural motions like human. Pedaling a cycle is a very essential motion including many problems for a humanoid system, such as mutual interaction with environments, optimization of load distribution and so on. We insist that a humanoid should have more redundancy, flexibility and complexity to solve these problems. But, the more redundant a humanoid's...
This paper describes a new approach for modeling joints in an articulated 3D body model for tracking of the configuration of a human body. The used model consists of a set of rigid generalized cylinders. The joints between the cylinders are modeled as artificial point correspondences within the ICP (iterative closest point) tracking algorithm, which results in a set of forces and torques maintaining...
A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a flexible PCB covered by a conductive rubber layer. The force sensor is an off-the-shelf integrated three components micro-joystick. The analog and digital electronics is fully embedded...
Building a humanoid robot is a formidable engineering task requiring the combination of mechanical, electrical and software technologies. This paper presents the main steps to design a low cost fully autonomous humanoid platform and the set of solutions proposed. The main scope of the project beneath this paper is to carry out research on control, navigation and perception, whilst offering opportunities...
A mobile humanoid robot is reconfiguring NASA modular truss structures at the Johnson Space Center. Until recently these structures could only be effectively manipulated by human hands or by robots with specialized end effectors. This humanoid robot, Robonaut, designed to assist astronauts during space walks, has been upgraded to tackle the precision constrained tasks associated with truss assembly...
This paper addresses the problem of gait pattern generation for biped robots. A method based on nonlinear parameter optimization is proposed. Key features of the method are the trajectory description, optimization of only a subset of coordinates and the use of analytical, recursively calculated gradients for cost functions and constraints. The method has been used successfully to calculate walking...
This paper explores movement transfer from humans to humanoid robots. Our goal is to produce human-like motions in humanoid robots by capturing human motions and transferring these motions to humanoid robots. One crucial problem in human-humanoid motion transfer is the discrepancy between human and humanoid robot dynamic models. This model discrepancy generally results in an unbalanced motion as well...
We describe three bipedal robots that are designed and controlled based on principles learned from the gaits of passive dynamic walking robots. This paper explains the common control structure and design procedure used to determine the mechanical and control parameters of each robot. We present this work in the context of three robots: Denise, the Delft pneumatic biped, R1, a highly backdrivable electric...
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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