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In this paper, we address the problem of simultaneously achieving low trajectory tracking errors and compliant control without using explicit mathematical models of task dynamics. To achieve this goal, we propose a new movement representation called compliant movement primitives (CMPs), which encodes position trajectory and associated torque profiles and can be learned from a single user demonstration...
One of the problems in humanoid locomotion generation is energy efficiency. This paper proposes a method for energy efficiency optimization in simple humanoid robot locomotion using single objective genetic algorithm. With the aim to produce walking trajectory system using minimum energy and good stabilization, torque and oscillation analysis are required to calculate the stabilization. The number...
In this paper, a miniature nonholonomic spherical rolling robot capable of navigating over two dimensional surfaces is described. This 55 gram spherical robot consists of a 6 cm diameter external spherical shell driven by an internal two-wheeled differential drive cart. A gravity powered pendulum effect is produced as the internal device climbs up the internal surface of the shell, propelling the...
Humans are known to manage postural movements in a very elegant manner. In the task of standing up from a chair, a humanoid robot can benefit from the variability of human demonstrations. In this paper we propose a novel method for humanoid robots to imitate a dynamic postural movement demonstrated by humans. Since the kinematics of human participants and the humanoid robot used in this experiment...
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