〒 560-85311-3, Machikaneyama-cho,Toyonaka, Osaka, Japan
We propose a new gait planning for biped robot by using nonhoronomic model with difference-equation constraints. The model of pivoting telescopic segment is employed as the kinematic foot stamp motion of bipedal. The repetitive and discontinuous constraints of pivoting, expanding and contracting make the set of walking trajectory. We can make walking trajectories online so that the input is only goal state.
For creating safe, secure and reliable (SSR) society, a concept of wheelchair user support system using humanoid robots is proposed; humanoid robots exist in our environment and provide both mobility and manipulation supports for wheelchair users.
Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when the manipulator tip trajectory is decided.
Generation and observation of whole-body motion for a multi-joint robot is often difficult for its complicated structure. We propose Marionette System to provide an intuitive teleoperation system. Marionette system serves as an operating/displaying device, employing a small robot which possesses a similar form to the target robot.
Robots require recognition of the constantly changing environment. Hybrid Motion Stereo combines the two main camera calculation methods, stereo vision and motion stereo, to acquire positional information of the whole field of view.
We propose a new emergent stop method for humanoid robots. By modifying the predefined ZMP trajectory if a walking robot receives a stop signal from operator, the robot can change the current motion. In addition, we make the modification criteria for stable change of the next foothold. In this method, the humanoid robot can stop immediately within one step to avoid a collision, if humans or objects appeared unexpectedly in front of the walking humanoid robot.