Walking motion generation of humanoid robots: Connection of orbital energy trajectories via minimal energy control

2011 ◽  
Author(s):  
Carlos Santacruz ◽  
Yoshihiko Nakamura
Keyword(s):  
Humanoid Robots ◽  
Orbital Energy ◽  
Minimal Energy ◽  
Motion Generation ◽  
Energy Control ◽  
Walking Motion

Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing

2017 ◽  
Vol 14 (01) ◽  
pp. 1650022 ◽  
Author(s):  
Tianwei Zhang ◽  
Stéphane Caron ◽  
Yoshihiko Nakamura
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Real Life ◽  
Estimation Method ◽  
Humanoid Robots ◽  
Stair Climbing ◽  
Lidar Data ◽  
Motion Generation ◽  
Prior Models ◽  
Motion Generator

Stair climbing is still a challenging task for humanoid robots, especially in unknown environments. In this paper, we address this problem from perception to execution. Our first contribution is a real-time plane-segment estimation method using Lidar data without prior models of the staircase. We then integrate this solution with humanoid motion planning. Our second contribution is a stair-climbing motion generator where estimated plane segments are used to compute footholds and stability polygons. We evaluate our method on various staircases. We also demonstrate the feasibility of the generated trajectories in a real-life experiment with the humanoid robot HRP-4.

Walking Motion Generation and Validation of Biped Humanoid Robot

2012 ◽  
Vol 591-593 ◽  
pp. 1386-1390
Author(s):  
Bo Tu ◽  
Dan Pu Zhao ◽  
Xian Qing Tai
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Interpolation Method ◽  
Spline Interpolation ◽  
The State ◽  
Significant Issue ◽  
Motion Generation ◽  
Walking Motion

Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.

2A1-D15 Walking Pattern Generator for Humanoid Robots based on Human Walking Motion

2009 ◽  
Vol 2009 (0) ◽  
pp. _2A1-D15_1-_2A1-D15_4
Author(s):  
Kensuke HARADA ◽  
Kanako MIURA ◽  
Mitsuharu MORISAWA ◽  
Kenji KANEKO ◽  
Shin-ichiro NAKAOKA ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Pattern Generator ◽  
Human Walking ◽  
Walking Pattern ◽  
Walking Motion
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