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Recent advances in pedestrian navigation, a branch of wearable body area networks (WBAN), facilitate people's lives to help them get access to location-based services (LBS) at anywhere easily. This paper proposes a pedestrian dead-reckoning (PDR) algorithm to track the trajectory of the person using foot-mounted inertial measurement unit (IMU) and the estimation of the foot orientation with extended...
We present a robot capable of both (1) dynamically perching onto smooth, flat surfaces from a ballistic trajectory and (2) successfully transitioning to a climbing gait. Merging these two modes of movement is achieved via a mechanism utilizing an opposed grip with directional adhesives. Critical design considerations include (a) climbing mechanism weight constraints, (b) suitable body geometry for...
The objective of this paper is to propose an approach for generating on-line walking patterns for a biped robot to navigate towards destination and reactively avoid obstacles. Kinect-based sensor system detects obstacles with velocity and dimension estimated for obstacle modeling. With identified obstacles, repulsion vectors of potential field given by obstacles modify walking path of a biped robot...
The aim of this paper is to develop an algorithm that enables a humanoid robot to perform an impulsive pedipulation of a spherical object by using its foot, so that the object reaches a desired 3D goal position, taking into account some constraints imposed at the moment of the impact. This is done by planning a suitable motion of the humanoid robot that exerts the required impact conditions on this...
This paper presents a forward walking strategy for humanoid robots using a whole-body control framework. Implementation of walking requires the coordination of movements between the feet and the center of mass (COM) of the system. In addition, the condition of preventing falling needs to be considered at the planning stage and later the robot is controlled to meet this condition upon execution. In...
This paper deals with the problem of synthesis of bipedal walking and motion control of the robot having in mind requirements for the motion in unstructured environment such as living and working environment of man. The walk is synthesized by combining and tying basic parameterized movements, called motion primitives. To enable on-line modification of synthesized walk the relationship is established...
This paper presents a novel method for retargeting motions. In this method we consider the whole leg as a length changeable skeleton, through keeping the length proportion and direction of the leg vector before and after retargeting we can accomplish the motion retargeting by scale the root node. Because we transform the constraint of foot position to the constraints of the leg vector's length and...
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