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, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial...

This paper describes the application of Particle Swarm Optimization (PSO) for gait optimization on a humanoid robot. The biped gait is modeled by a number of parameterizable trajectories. To achieve omni-directional walking, different sets of gait parameters are optimized for specific walk directions and interpolated later. By using a fitness test based on an acceleration walk, the optimized se...

In this paper, we describe our adoption of the THOR-OP (Tactical Hazardous Operations Robot Open Platform) full sized humanoid robot, originally developed to compete at the DARPA Robotics Challenge, for the RoboCup robotic soccer competition. For full sized general purpose humanoid robots, the zero moment point (ZMP) preview controller is widely used since it provides excellent stability and ac...

Recently, the research on humanoid robots has attracted many researchers. The research spans from stability and optimal control, gait generation, human-robot and robot-robot communication. In addition, humanoid robots have been also used to understand better human motion. Among humanoid robot prototypes the most well known is Honda humanoid robot (Hirai et. al., 1998). This robot has the abilit...

Nowadays, there is still no robust solution to stabilize a humanoid robot while it is walking; all proposed solutions work only approximately for certain assumptions. This can be easily understood knowing that there is still no sufficient criterion that implies the stability of a walking robot. This project consists of finding a solution to keep a robot stable while it is walking implying the a...

A behavior strategy of humanoid robot for obstacle avoidance based on four infrared sensors is proposed and implemented on an autonomous humanoid robot. A mechanical structure with 26 degrees of freedom is design so that an implemented small-size humanoid robot named TWNHR-III is able to accomplish five walking motions. Three walking experiments are presented to illustrate that the proposed bip...

Programming a humanoid robot to walk is a challenging problem in robotics. Traditional approaches rely heavily on prior knowledge of the robot's physical parameters to devise sophisticated control algorithms for generating a stable gait. In this paper, we provide, to our knowledge, the first demonstration that a humanoid robot can learn to walk directly by imitating a human gait obtained from m...

Robot learning in simulation is a promising alternative to the prohibitive sample cost of learning in the physical world. Unfortunately, policies learned in simulation often perform worse than hand-coded policies when applied on the physical robot. This paper proposes a new algorithm for learning in simulation – Grounded Action Transformation – and applies it to learning of humanoid bipedal loc...

Robotic football with humanoid robots is a multidisciplinary field connecting several scientific fields. A challenging task in the design of robot for AndroSot and HuroCup competitions realization movement on field. This study aims to determine walking pattern an impact its dynamic stability behavior. The proposed technical concept depends management mechanism, speed such factors as chosen appr...

We present a robotic embodiment experiment based on real-time functional magnetic resonance imaging (rt-fMRI). In this study, fMRI is used as an input device to identify a subject’s intentions and convert them into actions performed by a humanoid robot. The process, based on motor imagery, has allowed four subjects located in Israel to control a HOAP3 humanoid robot in France, in a relatively n...