This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. Ope...

This chapter designs an intelligent humanoid robot that not only can walk forward, backward, turn left, turn right, walk sideward, squat down, stand up and bow smoothly, but also can imitate several human basic motions. The robot’s structure is composed of 17 AI motors with some selfdesign acrylic sheets connections. The robot is like a human in that it also has two hands, two feet, and a head....

This paper presents the design and learning architecture for an omnidirectional walk used by a humanoid robot soccer agent acting in the RoboCup 3D simulation environment. The walk, which was originally designed for and tested on an actual Nao robot before being employed in the 2011 RoboCup 3D simulation competition, was the crucial component in the UT Austin Villa team winning the competition ...

A Personal robot, which is expected to become popular in the future, is required to be active in joint work and community life with humans. Therefore, the purpose of this study is the development of new mechanisms and functions for a humanoid robot that has the ability to express human-like emotion and communicate naturally with a human, in order to realize a personal robot. Recently, the Emoti...

This paper introduces an open architecture humanoid robotics platform (OpenHRP for short) on which various building blocks of humanoid robotics can be investigated. OpenHRP is a virtual humanoid robot platform with a compatible humanoid robot, and consists of a simulator of humanoid robots and motion control library for them which can also be applied to a compatible humanoid robot as it is. Ope...

This paper presents the design and learning architecture for a fully holonomic omnidirectional walk used by the UT Austin Villa humanoid robot soccer agent acting in the RoboCup 3D simulation environment. By “fully holonomic” we mean the walk allows for movement in all directions with equal velocity. The walk is based on a double linear inverted pendulum model and was originally designed for th...

Robust walking is one of the key requirements for soccer playing humanoid robots. Developing such a biped walk algorithm is non-trivial due to the complex dynamics of the walk process. In this paper, we first present a method for learning a corrective closed-loop policy to improve the walk stability for the Aldebaran Nao robot using real-time human feedback combined with an openloop walk cycle....

In this paper, we present a new method for humanoid robot arm motion planning satisfying multiple constraints. In our method, the humanoid robot arm motion generation is formulated as an optimization problem. Four different constraints, which cover a wide range of humanoid robot tasks, are considered: minimum time, minimum distance, robot hand acceleration and constant joint angular velocity. R...

Advancement in brain computer interfaces (BCI) technology allows people to actively interact in the world through surrogates. Controlling real humanoid robots using BCI as intuitively as we control our body represents a challenge for current research in robotics and neuroscience. In order to successfully interact with the environment the brain integrates multiple sensory cues to form a coherent...

This paper deals with humanoid walk planning in cluttered environments. It presents a heuristic and efficient optimization method that takes as input a path computed for the robot bounding box, and produces a path where a discrete set of configurations is reoriented using an A* search algorithm. The resulting trajectory is realistic and time-optimal. This method is validated in various scenario...