Dancing Humanoid Robots: Systematic Use of OSID to Compute Dynamically Consistent Movements Following a Motion Capture Pattern
نویسندگان
چکیده
منابع مشابه
Dynamically-Stable Motion Planning for Humanoid Robots
We present an algorithm for computing stable collision-free motions for humanoid robots given fullbody posture goals. The motion planner is part of a simulation environment under development for providing high-level software control for humanoid robots. Given a robot’s internal model of the environment and a statically-stable desired posture, we use a randomized path planner to search the confi...
متن کاملMaking Feasible Walking Motion of Humanoid Robots from Human Motion Capture Data
Thtiswork presents n,stmly of the human / h,ummwid lixmmotion. system. ond a method for odoptotion of the Human Motion Capture Data (HMCD) for drivinfi o humanoid robot. The anmlysis uses the preciously defined concept of th,e Zero Moment Point (ZMP) wh,id prwides (Lbasis for the u,do.ptation, of the HMCD. An u,ppropri~, model of the robot foot, an ogreem,en,t with, the HMCD, is proposed. This ...
متن کاملMotion Planning for Humanoid Robots
Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military battlefield. In order to improve the auto...
متن کاملTeleoperation of a humanoid robot using full-body motion capture, example movements, and machine learning
In this paper we present and evaluate a novel method for teleoperating a humanoid robot via a full-body motion capture suit. Our method does not use any a priori analytical or mathematical modeling (e.g. forward or inverse kinematics) of the robot, and thus this approach could be applied to the calibration of any human-robot pairing, regardless of differences in physical embodiment. Our approac...
متن کاملA Interpolation-Based Approach to Motion Generation for Humanoid Robots
This paper proposes a static posture based motion generation system for humanoid robots. The system generates a sequence of motion from given several postures, and the motion is smooth and stable in the balance. We have produced all the motions of Tai Chi Chuan by the system. Motion generation for humanoids has been studied mainly based on the dynamics. Dynamic based method has, however, some d...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 2015
ISSN: 1070-9932
DOI: 10.1109/mra.2015.2415048