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This paper manly presented kicking design motion of humanoid robots using a reinforcement learning method which is based on the Q-learning. First, this method build a multidirectional fixed-point kicking model, which is based on the offset of kicking point, the foot space motion trajectory and ZMP stability criterion, and that makes subsequent train costs much less time. Besides, discretization of...
This paper presents a method to handle walking on non-planar surfaces. The trajectories of the center of mass and the next position of the foot are given by a pattern generator. Then, an inverse dynamics control scheme with a quadratic programming optimization solver is used to let the foot go from its initial to its final position, controlling also the center of mass and the waist. The solver can...
This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a...
This paper proposes a new method of trajectory planning for biped robots walking on flat terrain. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the hip and foot trajectories are searched by genetic algorithm. The objective is to obtain stable walking trajectory with minimized joint-torques requirement...
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...
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