The generation of walking motions for humanoid robots is a challenging task. From the infinite number of possibilities to move the body of the robot with its redundant degrees of freedom (DOF) forward, the task is to determine those motions that are stable, feasible within the robots kinematic and dynamic limitations, and also resemble the way we expect an anthropomorphic system to walk. Severa...

Because of the potential for interaction with humans, research in humanoid robotics has made significant progress in recent years. It has long been imagined that some day, humanoid robots will serve people with disabilities, improve search-and-rescue efforts in dangerous conditions, and perhaps even replace humans in doing our everyday tasks. The ability of a humanoid robot to do these tasks, h...

Ministry of Economy, Trade and Industry of Japan had run an R&D project on humanoid robotics since 1998 for five years. In the first two years, platforms for humanoid robotics research were developed. In the next three years, researches were carried on for five different applications. We joined a group of the cooperative works by a human and a humanoid robot and took charge of a robot vision sy...

Human motion capture is a promising technique for the generation of humanoid robot motions. To convert human motion into humanoid robot motion, we need to relate the humanoid robot kinematics to the kinematics of a human performer. In this paper we propose an automatic approach for scaling of humanoid robot kinematic parameters to the kinematic parameters of a human performer. The kinematic mod...

Bipedal humanoid robots are intrinsically unstable against unforeseen perturbations. Conventional zero moment point (ZMP)-based locomotion algorithms can reject perturbations by incorporating sensory feedback, but they are less e®ective than the dynamic full body behaviors humans exhibit when pushed. Recently, a number of biomechanically motivated push recovery behaviors have been proposed that...

Humanoid robots have been expected to work as an alternative to human in severe working conditions. In order for humanoid robots to work in the field of civil engineering, construction or disaster-relief, humanoid robots must have ability of walking on uneven terrain such as sand, clay and snow. However, most of studies on biped walking on even or uneven terrain have assumed stiff ground. Biped...

In this paper, a new biped robot soccer game platform was proposed. The platform is based on biped humanoid robot, it combined the research of robot control, wireless communication, machine vision, which make the humanoid robot game possible. Based on this platform, one can develop more advanced humanoid robot.

I n this paper. we present the mechanism, system cor$guration, basic control algorithm and integrated ,functions of the Nonda humanoid robot. Like its human counterpart, this robot lzas the ability to move forward and backward, sideways to the right or the left, as well as diagonally. I n addition, the robot can turn in any direction, walk up and down stairs continuously. Furthermore, due to it...

Locomotion of a Humanoid robot with lesser number of actuators is a choice of interest, as it leads to energy efficient design. This paper put emphasis on design of a humanoid robot with minimal actuation, minimal control and minimum development cost. It describes, design considerations and methods used for balancing and walking gait generation of a Humanoid Robot with 8 Degrees of Freedom. The...

Humans possess a complex physical structure and can perform difficult movement tasks. Over the past few decades, many researchers around the world have concentrated on achieving human-like artificial mobility or dexterity either on humanoid robots or during the implementation of robotic assistive devices. In particular, humanoid-type robots mainly focused on hands to understand the mechanical a...