Gait Planning of Biped Robot by Nonholonomic System with Difference-Equation Constraints

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.

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Humanoid Robot Supporting System for Initiative of Safe, Secure, and Reliable Society

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.

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Stable Control for Humanoid Robots Using Whole-Body Manipulation

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.

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Marionette System for Operating and Displaying Robot Whole-Body Motion

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.

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Wide-Area Recognition Using Hybrid Motion Stereo

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.

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Emergency Stop for Humanoid Robots

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.

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