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For real-time feedback and cost-efficient analysis from sport videos, it is essential to automatically identify players. In this paper, we propose a method for identifying sport players in videos. Our method uses wearable sensors to obtain their motions. Player identification is achieved by motion feature matching between (unknown) players in videos and wearable sensors whose IDs are already known...
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated...
This paper describes a gait pattern generation and the mechanisms of a biped humanoid robot that has 42 DOFs in total. The movable angles of the joints of the biped robot are about the same as those of a human. Its height is 1.66 [m] and its weight is 62.5 [kg]. If disturbance forces are applied to the waist when the robot is walking, the robot should change its step length to control its balance...
The quantification of postural sway during the unipedal stance test is one of the essentials of posturography. A shift of center of pressure (CoP) is an indirect measure of postural sway and also a measure of a person's ability to maintain balance. A widely used method in laboratory settings to calculate the sway of body center of mass (CoM) is through an ellipse that encloses 95% of CoP trajectory...
In this work we present a novel and generic framework for reactive collision avoidance in bipedal locomotion, which is formulated as an optimization problem considering the constraints of collision avoidance as well as others (e.g. joint limits) to simultaneously satisfy both Cartesian and joint space objectives. To realize the reactive behaviors, several task space motions, such as the translational...
Although three segmented mechanical leg is similar to animal limb morphology, it is difficult to solve inverse kinematic and dynamic equations due to the redundant degrees of freedom. Therefore, simple and efficient motion control cannot be achieved. Based on a structure of goat's hindlimb, the work in this paper aims at studying the movement mechanism to remove redundant degrees of freedom in three...
A human walking has some general characteristics such as general timing of walking cycle, foot state at each timing, relationship with the stride per stature and walking speed, joint angle patterns of leg, pelvis movement, foot clearance during swing phase. So we collected and analysed the normal walking characteristics to generating natural walking pattern for general biped rigid-body configuration...
A novel quadruped walking robot with four identical serial-parallel legs of four degrees of freedom was designed, which has both big workspace and high movement accuracy. Based on the hybrid leg of the quadruped walking robot, the trajectory planning of the foot end was carried out. According to the trajectory, the driving function of the motors was calculated by MATLAB and the kinematics simulation...
In this paper, we propose a gait transition strategy for a quadruped robot using the Hopf Oscillator model and trajectory planning. The Hopf Oscillator model is used to generate rhythmic moving pattern during trot gait, and trajectory planning based on the Stability Margin (SM) is employed to implement walk gait as well as the transition between walk gait and trot gait. Especially, we develop a moving...
This paper proposes the design and experiment of a bioinspired wall-climbing robot with spiny arrays. Inspired by the Serica orientalis Motschulsky's tarsal system, a spiny structure is designed, and the robot's foot which has two grippers using the structure is designed. An inchworm-like gait is employed and its trajectory is planned. The robot's foot as well as the whole prototype is fabricated...
For a quadruped robot to implement steady moving on horizontal planes, avoiding the impact against the ground, a foot trajectory planning method underling low contact impact was presented. At first, kinematic model of the quadruped robot though D-H algorithm have been established. Then, the foot trajectories, which are continuous not only in displacements and velocities but also in accelerations,...
This paper presents a quadruped robot with redundant degrees of freedom (DOFs), which exploits its kinematic redundancy for various types of locomotion and manipulation. Unlike previously developed quadruped robots, the proposed robot can change its body posture and suitably adapt to different environments. For example, the robot can walk on a plain terrain, pass through a narrow gap, surmount an...
In this paper, an optimal preview controller for the Nao biped robot is developed based on a three-dimensional linear inverted pendulum model and zero moment point stability criterion. In order to estimate the unmeasurable state vector, an unscented Kalman filter state observer is proposed which guarantees robustness of the control loop through loop transfer recovery and provides asymptotic stability...
Generating gait trajectories is an important step in biped motion control. So, in this paper, a neuro fuzzy (ANFIS)-based gait trajectory generator for a normal walking of a biped robot during the single support phase is developed. Since human sensorimotor controls are done in an optimal way following the principle of optimality, gait trajectories data of human subjects of different hip heights, and...
An Active Disturbance Rejection Control based on Generalized Proportional Integral observer (ADRC with GPI observer) was developed to control the gait of a bipedal robot with five degrees of freedom. The bipedal robot used is a passive point feet which produces an underactuated dynamic walking. A virtual holonomic constraint is imposed to generate online smooth trajectories which were used as references...
The balance has been widely studied over the last decades due to its importance in people independence. This allowed formulating models of human balance strategies. They are mainly based on inverted pendulum dynamical model stabilized with a feedback controller that keeps the Centre of Mass (CoM) within a stable trajectory within the Base of Stability (BoS). When a perturbation is applied the controller...
Many studies show the effectiveness of gait in surveillance and access control scenarios. However, appearance changes due to walking direction changes impose a challenge for gait recognition techniques that assume people only walk in a straight line. In this paper, the effect of walking along straight and curved path is studied by proposing a practical technique which is based on the three key frames...
In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. Humans seem to be able to adapt their motion in an effortless way and efficient way. In this...
Studies on power-assist robots are actively performed to assist human motion. Some of them are applied to assist the daily motion of physically weak persons such as elderly persons. Perception-assist was proposed to avoid an unexpected accident of users of the power-assist robot. In perception-assist, a virtual wall is sometimes used to avoid stumbling accident. In this paper, an effective shape of...
This paper manly presented kicking design motion of humanoid robots using a reinforcement learning method which is based on the Q-learning. First, this method build a multidirectional fixed-point kicking model, which is based on the offset of kicking point, the foot space motion trajectory and ZMP stability criterion, and that makes subsequent train costs much less time. Besides, discretization of...
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