Coarse-to-fine Humanoid Motion Planning Using COM Feasible Region and Achievement of Humanoids Ladder Climbing and Transition

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and integration methods we developed to give the HRP-2 humanoid robot the capability to climb vertical industrial-norm ladders. Our approach makes use of our multi-contact planner and multiobjective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts a...

Structure from Motion Using Coarse to Fine 3d Voting

Structure Analysis of Human Motion and Motion Imitation of Humanoids -Dancing Humanoid Project-

The interaction of robots is the reaction to their outer world according to the outer signals made by humans or environments. In particular, the humanoids which do the cooperative tasks with humans have to be considered how smoothly and naturally communicate with humans. This is achieved by the technologies of the natural motion synthesis or understanding of outer signals. In this paper, we int...

Coarse-to-Fine Least Squares Motion Estimator

synthesis of amido alkylnaphthols using nano-magnetic particles and surfactants

we used dbsa and nano-magnetic for the synthesis of amido alkylnaphtols.