In this paper we present an algorithm for planning the path of a 3 DOF mobile platform for a humanoid robot. It is simple enough to be executed online and yet powerful enough to generate a smooth path from starting point and orientation to a destination point with a different orientation. Thus we strive to achieve a human-like appearance of our robot that encourages the humans in vicinity to in...

This paper presents a topological-metric approach to navigation for mobile mini robots (MMRs). Motivated by future applications of MMRs like remote inspection tasks in small pipe systems, we investigate narrow, labyrinth-like environments (corridors width of 3 cm). Experiments in navigation tasks like local localization, global localization and map-building are carried out with our autonomous r...

Human-like walking for humanoid robot is still an open research topic. This article proposes a method to generate real human-like walking pattern for humanoid robot. As walking patterns generated by existing methods differ a lot from these of human, especially for the traditional walking pattern with knee bent and pelvis lower down with a constant height, we started from the modeling of kinemat...

This paper presents a novel design for a modular snake-like robot with magnetic coupling between the modules. Each module combines 3D-printed mechanical parts with widely available standard electronic components, resulting in a highly customizable, low-cost robot platform for research and education. Since simulation and 3D-printing rely on the same model-files, the design also integrates smooth...