In this paper, the dynamic modeling of a seven linked humanoid robot Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that starting from generalized moti equations of all rigid bodies of the humanoid robot one can establish a reduced dynamic either for simulation propositions or implemented for any given control law. In addition, transformations a...

We present an algorithm for computing stable collision-free motions for humanoid robots given fullbody posture goals. The motion planner is part of a simulation environment under development for providing high-level software control for humanoid robots. Given a robot’s internal model of the environment and a statically-stable desired posture, we use a randomized path planner to search the confi...

Human-humanoid collaborative tasks require that the robot take into account the goals of the task, interaction forces with the human, and its own balance. We present a formulation for a real-time humanoid controller which allows the robot to keep itself stable, while also assisting the human in achieving their shared objectives. This is achieved with a multirobot quadratic program controller, w...

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to generate two human-like motions, ...

Humanoid robots are complex service platforms with anthropomorphic features, specifically designed for close interaction with humans. Conventional programming strategies are hardly applicable to humanoids due to the high number of degrees of freedom that must be coordinated concurrently. Therefore, exploiting humanoids’ potential in service tasks remains an elusive goal. One of the most promisi...

In this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is t...

Motion planning is one of the key capabilities for autonomous humanoid robots. Previous researches have focused on weight balancing, collision detection, and gait generation. Most planners either assume that the environment can be simplified to a 2D workspace or assume that the path is given. In this paper, we propose a motion planning system capable of generating both global and local motions ...

We propose a new human-robot interaction that anthropomorphizes a target common object using attachable humanoid parts. The user perceives the target to have its own intentions and body image through the attached body parts. We experimented with how users accepted the intentions and imaginary body image of a common object with humanoid parts. We also compared this human-robot interaction with t...

This paper presents a new framework to generate human-like movement of a humanoid robot in real time using the movement primitive database of a human. The framework consists of two processes: (1) the offline motion imitation learning based on Evolutionary Algorithm and (2) the movement generation of a humanoid robot using the database updated by the motion imitation learning. For the offline pr...

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, robust, flexible and simpler maneuverability becomes inevitable for real or realistic environments. This paper presents a new method of controlling the trajectory of a humanoid robot on the...