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Turning gait is a basic motion for humanoid robots. In this article a model free approach is presented and our emphasis is how to make robot's “turn-in-place” motion more stable and faster. In this regard we use Genetic algorithm to optimize produced signals by Fourier Series (FS) which controls joint's angels. We show the effectiveness of the proposed method through simulation and experimental results.
In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery...
In this paper we introduce a method to generate whole body's linear and angular momentum, and use upper body to compensate for the momentum caused by lower-body prescribed trajectory for fast dynamic walk of humanoid robot. In this method, the system dynamic model is built with its performance indices, and the optimal momentum compensation (OPMC) is solved by preview control method. Experiments conducted...
To help with care work and rescue operations, it is necessary for humanoid robots to have the ability to transport humans steadily and gently. In this research we consider "piggyback" motions for transporting humans. Most people can perform this motion, allowing us to measure and analyze piggyback motions of human subjects using tactile sensing and whole body movements to design whole body...
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