Arm/trunk motion generation for humanoid robot

Multicriteria Optimal Humanoid Robot Motion Generation

Motion Generation for a Humanoid Robot with Inline-Skate

A lot of research has been done for bipedal walking and many positive results have been produced, such as the ASIMO robot from Honda. However, although bipedal walking is a good solution for moving over uneven surfaces; bipedal walking is inefficient over an even surface because the robot’s walking speed and stability are limited. Consequently, employing a wheeled locomotion on even surfaces ca...

Generation of Complex Dynamic Motion for a Humanoid Robot

Whole-body coordinated motion of a humanoid robot is known to be a difficult problem for the robotics community. Factors like the dynamic model of the robot, its physical limitations, and its stability throughout the motion must be considered for the results to be implementable on a real robot. Redundancy poses great difficulties as the control of a certain part of the humanoid, if not well pla...

Associative Motion Generation for Humanoid Robot Reflecting Human Body Movement

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of ...

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers

In this paper, we present a new method for humanoid robot arm motion planning satisfying multiple constraints. In our method, the humanoid robot arm motion generation is formulated as an optimization problem. Four different constraints, which cover a wide range of humanoid robot tasks, are considered: minimum time, minimum distance, robot hand acceleration and constant joint angular velocity. R...