I majored in robotics and humanoid robots are the dream of every researcher in robotics. When I first saw the Honda Asimo, I really wanted to create my own humanoid robot. This is a very personal motivation to start humanoid robotic research. Secondly, humanoid robots are the ultimate form of service robots. While today most robots drive on wheels, eventually, two-legged locomotion is the best ...

This manuscript present my research activities on real-time vision-based behaviors for complex robots such as humanoids. The underlying main scientific question structuring this work is the following: “What are the decisional processes which make possible for a humanoid robot to generate motion in real-time based upon visual information ?” In soccer humans can decide to kick a ball while runnin...

This report presents a basic contact interaction-based navigation strategy for a biped humanoid robot to support current visual-based navigation. The robot’s arms were equipped with force sensors to detect physical contact with objects. We proposed a motion algorithm consisting of searching tasks, self-localization tasks, correction of locomotion direction tasks and obstacle avoidance tasks. Pr...

It is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the t...