Haut PDF Advanced human inspired walking strategies for humanoid robots
Advanced human inspired walking strategies for humanoid robots
... using humanoid robot embedded ...suited for platforms with limited computational ...existing humanoid robot, HRP-2 [Herdt ...real-time. For instance, the problem depicted in Fig. 1.1 shows the ...
141
Robust human-inspired power law trajectories for humanoid HRP-2 robot
... Robust human-inspired power law trajectories for humanoid HRP-2 robot ...how human speed of motion depends on the path’s ...law for humanoid robot walking control ...
9
Using human-inspired models for guiding robot locomotion
... des robots, interaction homme-robot, robots humanoid, systéme de capture de mouvement Abstract: This thesis has been done within the framework of the European Project Koroibot which aims at ...
160
Footstep planning for humanoid robots: discrete and continuous approaches
... active humanoid robot projects, and great progress was made in control schemes for biped locomotion (we can mention [Kajita and Tani, 1991] which introduced the first version of the linear inverted pendulum ...
143
Human Motion Transfer on Humanoid Robot
... on Humanoid Motion The first studies on humanoid robots aimed at building robots capable of walking, however the main difficulty to overcome was dynamic ...balance for legged ...
109
Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking
... model human walking, to generate a more human inspired walking pattern of humanoid ...the humanoid robot Romeo using trajectories with different depth of the pivot ...
12
Generation of whole-body motion for humanoid robots with the complete dynamics
... a humanoid robot is a challenging task due to the kinematic and dynamic complexity of the ...redundant robots with a non-trivial tree-like structure as well as an unstable nature due to the vertical po- ...
162
Motion Planning : from Digital Actors to Humanoid Robots
... 4.1.2 Physical methods The idea of this approach is to generate realistic (physically feasible and eye-believable) motion which respects the laws of Newtonian physics. Here, the objects are controlled by applying forces ...
112
Balance control and locomotion planning for humanoid robots using nonlinear centroidal models
... Another problem with the state of the art in mixed-integer trajectory optimization is the use of a direct transcription in conjunction with basic Euler integration and fixed time steps. Since the number of integer ...
151
Viable Multi-Contact Posture Computation for Humanoid Robots using Nonlinear Optimization on Manifolds
... leveraged for real-time applications where only a short time is allocated repeatedly to the optimization, so that when the optimization process is stopped after a few iterations, the output is still meaningful in ...
187
Definition of a Walking with starting and stopping motions for the Humanoid Romeo
... PERIODIC WALKING MOTION The periodic motion is composed of SS phases and DS phases with flat foot contacts on the ...of human motions (Winter, 1992). To define a periodic walk- ing motion for Romeo, ...
11
Motion planning and perception : integration on humanoid robots
... Their application to humanoid robots, however, is not straightforward. [ 34 ] proposes a whole-body motion planning method that deals with obstacle avoid- ance and dynamic balance constraints. It explores a ...
112
Human-humanoid collaborative object transportation
... ideas for improvements, specific to each of the areas of our work here. For the work done in chapter 2 concerning vision and haptic sensing in collabo- ration, there are a lot of paths to be ...to ...
105
Implementation, Identification and Control of an Efficient Electric Actuator for Humanoid Robots
... torque is improved, allowing to reduce the reduction ratio and so having a more backdrivable system. An- other route is to improve the design of the gear box, as done in (Englsberger et al., 2014) where authors chose to ...
11
Advanced path tracking control for off-road mobile robots
... sliding loop Fig. 4. Loop path tracking error using Sliding Mode Control law A second strategy for perturbation rejection consists in taking part of the sliding parameters estimation capability. As demonstrated ...
10
Embodied Localization in Visually-guided Walk of Humanoid Robots
... Keywords: Humanoid Robotics, Embodied Cognition, Ego-localization, Machine ...Abstract: Humanoid robots are conceived to resemble the body and comportment of the human ...crucial for ...
11
Using the Generalized Inverted Pendulum to generate less energy-consuming trajectories for humanoid walking
... reduced with respect to z p = 0, but the reduction rate is smaller than in the case z p = −0.145 m. We give the reduction rate at three times within the motion: 9.8% at (t = 0 sec), 91% at the peak (t = 0.31 sec) and ...
13
Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots
... Restricted Discrete Invariance and Self-Synchronization For Stable Walking of Bipedal Robots Hamed Razavi 1 , Anthony M. Bloch 2 , Christine Chevallereau 3 and J. W. Grizzle 4 Abstract— Models of ...
8
Human to humanoid motion conversion for dual-arm manipulation tasks
... adult human body has 206 bones linked by different types of joints, which can be ...the humanoid robot, consistent with its joint mobility and ...Many humanoid robots of a size close to that ...
41
Human treadmill walking needs attention.
... to walking on the treadmill at a steady state, we used a dual-task par- adigm in which the secondary task was a reaction time (RT) task performed at two levels of ...demands for limited attentional ...
8
