Mimicking human motion with a humanoid robot is essential for allowing humanoid robots to be used in service applications. Simply creating motions without considerations for balance and stability or directly copying motion from a human using motion capture and implementing it on a humanoid robot may not be successful because of the difference in physical properties between the human and the hum...

Many researchers, up to now, have modeled the biped walking by considering the height of Center of Mass (CoM) as a fixed constant, other biomechanical studies show that the CoM height is variant during walking and running[1]. The shape of CoM height trajectory is important for energy consumption, and it varies differently for various speeds and step length ranges [2]. Although linear inverted p...

In this paper, a new feature-based approach to automated image-to-image registration is presented. The characteristic of this approach is that it combines an invariantmoment shape descriptor with improved chain-code matching to establish correspondences between the potentially matched regions detected from the two images. It is robust in that it overcomes the difficulties of control-point corre...

We derive sufficient conditions for the mixing of all orders of interacting transformations of a spatial Poisson point process, under a zero-type condition in probability and a generalized adaptedness condition. This extends a classical result in the case of deterministic transformations of Poisson measures. The approach relies on moment and covariance identities for Poisson stochastic integral...

This paper describes the control of a biped robot that possesses innovative characteristics, namely regarding its autonomy, becoming important the existence of a wireless transmission that binds software running in a PC to the robot in an efficient way and without physical links. It is used a radio transmission link and a power battery is carried by the robot. In this work a 1st order Takagi-Su...

This paper presents a contribution to the study of control law structures and to the selection of relevant sensory information for humanoid robots in situations where dynamic balance is jeopardized. In the example considered, the system first experiences a large disturbance, then by an appropriate control action, resumes a “normal” posture of standing on one leg. In order to examine the control...

In this paper, we present a novel methodology to obtain imitative and innovative postural movements in a humanoid based on human demonstrations in a di®erent kinematic scale. We collected motion data from a group of human participants standing up from a chair. Modeling the human as an actuated 3-link kinematic chain, and by de ̄ning a multi-objective reward function of zero moment point and join...

This paper introduces a walking pattern generation method on an inclined terrain in both pitch and roll directions, and uneven terrain. The walking pattern generation method is based on a modifiable walking pattern generator (MWPG) which allows a zero moment point (ZMP) variation in real-time. As a navigational command set, a 3-D command state (CS) is defined, which consists of single and doubl...

In part II of this group of papers, the control of the gait of a biped robot during rectilinear walk was considered. The modeling approach and simulation, using Kane’s method with implementation leveraged by Autolev, a symbolic computational environment that is complementary, was discussed in part I. Performing turns during the walk is technically more complex than the rectilinear case and dese...

Robotics researchers have studied the stability maintenance requirements of bipedal robots since they are inherently unstable. An accurate postural stability measure is required to monitor their dynamic equilibrium conditions. In this article, the novel Moment-Height Stability (MHS) measure, which has previously been developed for monitoring the postural stability of wheeled mobile robots, is d...