scholarly journals Real-time Unsupervised Segmentation of human whole-body motion and its application to humanoid robot acquisition of motion symbols

2016 ◽  
Vol 75 ◽  
pp. 260-272 ◽  
Author(s):  
Wataru Takano ◽  
Yoshihiko Nakamura
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Body Motion ◽  
Whole Body ◽  
Unsupervised Segmentation

scholarly journals Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

2018 ◽  
Vol 49 (7-8) ◽  
pp. 521-538
Author(s):  
Concepción A. Monje ◽  
Santiago Martinez ◽  
Paolo Pierro ◽  
Carlos Balaguer
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Balance Control ◽  
Whole Body ◽  
Stability Regions ◽  
Body Balance

scholarly journals Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality

2019 ◽  
Vol 26 (4) ◽  
pp. 83-93
Author(s):  
Pouya Mohammadi ◽  
Enrico Mingo Hoffman ◽  
Niels Dehio ◽  
Milad S. Malekzadeh ◽  
Martin Giese ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation ◽  
Real Time Control ◽  
Time Control

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

2009 ◽  
Vol 21 (3) ◽  
pp. 311-316 ◽  
Author(s):  
Kensuke Harada ◽  
◽  
Mitsuharu Morisawa ◽  
Shin-ichiro Nakaoka ◽  
Kenji Kaneko ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Body Motion ◽  
Whole Body ◽  
Gait Planning ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Dynamic Constraint ◽  
Dynamical Balance

For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the whole-body motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot's CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

Whole-Body Human-to-Humanoid Motion Imitation

2013 ◽  
Vol 479-480 ◽  
pp. 617-621
Author(s):  
Hsien I Lin ◽  
Zan Sheng Chen
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Optimal Solution ◽  
Human Motion ◽  
Body Motion ◽  
Upper Body ◽  
Whole Body ◽  
Nao Robot ◽  
Novel Approach ◽  
Intuitive Method

Human-to-Humanoid motion imitation is an intuitive method to teach a humanoid robot how to act by human demonstration. For example, teaching a robot how to stand is simply showing the robot how a human stands. Much of previous work in motion imitation focuses on either upper-body or lower-body motion imitation. In this paper, we propose a novel approach to imitate human whole-body motion by a humanoid robot. The main problem of the proposed work is how to control robot balance and keep the robot motion as similar as taught human motion simultaneously. Thus, we propose a balance criterion to assess how well the root can balance and use the criterion and a genetic algorithm to search a sub-optimal solution, making the root balanced and its motion similar to human motion. We have validated the proposed work on an Aldebaran Robotics NAO robot with 25 degrees of freedom. The experimental results show that the root can imitate human postures and autonomously keep itself balanced.

Real time whole body motion mapping for avatars and robots

2013 ◽  
Author(s):  
Bernhard Spanlang ◽  
Xavi Navarro ◽  
Jean-Marie Normand ◽  
Sameer Kishore ◽  
Rodrigo Pizarro ◽  
...  
Keyword(s):  
Real Time ◽  
Body Motion ◽  
Whole Body
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