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...

Slipping and Tripping Re exes for Bipedal Robots Gary N. Boone and Jessica K. Hodgins Abstract|Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the di culty of sensing uneven...

Next generation robots will be required to operate alongside people in complex environments that are primarily designed for humans. Humanoid robots present themselves as the logical choice for such tasks. In order to successfully navigate within human environments, humanoid robots require complex dynamic movements with robust balance maintenance on uneven terrain and during unexpected balance d...

Slipping and Tripping Re exes for Bipedal Robots Gary N. Boone and Jessica K. Hodgins Abstract|Many robot applications require legged robots to traverse rough or unmodeled terrain. This paper explores strategies that would enable legged robots to respond to two common types of surface contact error: slipping and tripping. Because of the rapid response required and the di culty of sensing uneven...

al. [3] in the case of a humanoid robot based on hybrid fuzzy control methods. This paper proposes a bipedal locomotion controller using an optimized Neuro-Fuzzy inference structure. In which, it is based on an adaptive neuro-fuzzy inference identifier (ANFII) for modeling the inverse dynamics of the biped robot. The proposed learning scheme is based on the zero moment point (ZMP); while the mo...

Dynamic bipedal robots, which are capable of versatile behaviour, are rare. Most bipedal robots are either versatile and static or dynamic and limited to specific gaits. Over the last twenty years the bio-inspired spring mass model became a versatile template for bipedal walking and running gaits with many studies motivated by its high potential for versatile robot locomotion. However the chara...

This document proposes a control scheme applied to delayed bilateral teleoperation of the forward and turn speed biped robot against asymmetric time-varying delays. is modeled as hybrid dynamic system because it behaves continuous when leg moves discrete foot touches ground generating an impulsive response. It proposed vary online damping according time delay present in communication channel, w...