A simulator of humanoid robots and a controller of their whole body motions in METI’s Humanoid Robotics Project are developed. The simulator can emulate the dynamics of the motions of the robots whose structure may vary, and generate a sequence of the fields of view from the eyes of the robot according to the motions. The structure-varying system is managed by introducing virtual links. The con...

Therapeutic and educational applications of robots have created a demand for robots showing a number of social skills. These skills include the capacity to imitate, to learn from demonstration, to interpret gestures and to recognize speech. Robot toys are an ideal platform to investigate the potential and limitations of human–robot social interactions. This paper presents Robota, a mini-humanoi...

In Robocup, The most important sensor on humanoid robot soccer is a camera. The camera serves as the eyes of the robot as well as in humans. This camera is used by the robot to detect the ball. The task of Humanoid Robot Soccer as a Goalkeeper is to keep the goal and must be able to block a ball that came directly to the goal from many directions so the ball is not got into the goal. As already...

In this paper, we propose a new model using central pattern generators (CPG) for the stable motion of Humanoid robot. After that we compare the proposed model with the existing Taga’s model of humanoid robot. The Matsuoka Neural Oscillators are used to generate the required signals to realize the coordinated movement of a musculoskeletal model of humanoid

The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot “WABIAN” and the human-size 41 active DOF bipedal humanoid robot “ WABIAN-R”. The authors also ...

This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowin...

In this paper, we present a control system based on embedded system according to the features of humanoid robot. First, the image captured by the vision system is recognized through the improved look-up table method. And then with a smooth gait planning of turning motion for humanoid robot presented, the next several motions for the robot can be proposed by the local motion planner based on the...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

Robots have been used in a variety of education, therapy or entertainment contexts. This paper introduces the novel application of using humanoid robots for robot-mediated interviews. An experimental study examines how children's responses towards the humanoid robot KASPAR in an interview context differ in comparison to their interaction with a human in a similar setting. Twenty-one children ag...

In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot’s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Huma...