Compared to human locomotion capabilities, today’s bipedal robots are still lacking in efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on insights into human motion control is suggested. Key features include the exploitation of passive dynamics, no usage of a full dynamic model, and hierarchical, distributed control. Walking robustness in presence of unkn...

While the focus of robotic bipedal walking to date has been the development of anthropomorphic gait, the community has been unable to agree on a model for such gait. In this paper, we propose a universal ordering of events for bipedal walking based on motion capture data collected from a walking experiment. We process the motion capture data using persistent homology to automatically determine ...

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP...

There exists a large disconnect between the natural fluid motion of unconstrained human walking and the unnatural, rigid motion of human walking with a robotic exoskeleton. This unnatural movement of walking in a robotic exoskeleton is largely due to poor controller design and can make the motion energetically inefficient for the user [1]. Our research group has been developing techniques to us...

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward ...

We readily use the form of human figures to determine if they are moving. Human figures that have arms and legs outstretched (articulated) appear to be moving more than figures where the arms and legs are near the body (standing). We tested whether neurons in the macaque monkey superior temporal sulcus (STS), a region known to be involved in processing social stimuli, were sensitive to the degr...

A location and tracking system becomes very important to our future world of pervasive computing. An algorithm for accurate location information is being incorporated in the human walking model and in the blind human walking model. We want to implement an accurate location tracking mechanism using Zigbee along with GPS, we have incorporated Markov chain algorithm for establishing accuracy. Norm...

Segmenting and tracking multiple humans is a challenging problem in complex situations in which extended occlusion, shadow and/or reflection exists. We tackle this problem with a 3D model-based approach. Our method includes two stages, segmentation (detection) and tracking. Human hypotheses are generated by shape analysis of the foreground blobs using human shape model. The segmented human hypo...

Segmenting and tracking multiple humans is a challenging problem in complex situations in which extended occlusion, shadow and/or reflection exists. We tackle this problem with a 3D model-based approach. This method includes two stages, segmentation (detection) and tracking. Human hypotheses are generated by shape analysis of the foreground blobs using human shape model. The segmented human hyp...