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This paper proposes a control method that improves the ability of adult-sized humanoid robots to adapt to weightlifting situations. In order to achieve the goal of having humanoid robots automatically balance their motion for weight-lifting situations, feedback control is added to the motion control system. The feedback sensors include a three-axis accelerometer and a three-axis gyroscopic, which...
A behavioral strategy designed for a humanoid robot for the purpose of obstacle avoidance based on four ultrasonic sensors for the learning behavior and performance is proposed and implemented with an autonomous humanoid robot. A mechanical structure with 4 degrees of freedom is designed so that a small-size humanoid robot named ARSR is able to accomplish three types of walking motion. One experiment...
An effective controller is crucial for a humanoid robot since a humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors. On the other hand, real-time fault diagnosis is increasingly important for the humanoid robot due to its mechanism and control complexity and inherent instability of risking tipping itself over. In this...
This paper presents a haptic sensor foot system for humanoid robot and an active tactile sensing technique to balance the humanoid robot with two legs for human and robot interaction task. The proposed sensors are implemented on two robotic foots. The sensor unit contains three thin sheets of force sensitive resistors. Those elements are arranged triangularly on the back of each foot. The research...
This paper presents a tactile sensor foot system for humanoid robot and an active tactile sensing technique to recognize a ground slope with experimental results. A tactile sensor unit implemented on the robot foot consists of three thin sheets of force sensitive resistors arranged triangularly with the peripheral circuits. The proposed tactile sensing foot can detect the ground slope for natural...
Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object, stable and reliable biped walking is a very important achievement. Well designed foot plays a crucial role in stabilization control for a humanoid robot. In this paper, we present a flexible foot design for our humanoid robot, including a landing impact absorption mechanism and a foot attitude estimation...
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