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A humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors such as encoders, force and moment sensors, inertial attitude sensors and vision sensors. Therefore an effective control system is crucial for the humanoid robot. In this paper, we propose a distributed computer system consisting of the online planning sub-system...
To perform long range navigation and desired task, AUV is required to describe internal system states and mutual transitions clearly and completely. The mission planning system developed in this project utilizes finite state machine model to analyze and depict AUVpsilas working flow and intricate control logic of all mission stages. An efficient path planning method resulting in a shortest tangent...
This paper reports current experiments conducted on HRP-2 based research on robot autonomy. The contribution of the paper is not focused on a specific area but its objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order ldquogive me the purple ballrdquo in an autonomous way. Such an experiment requires: simple object...
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