scholarly journals Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot

2016 ◽  
Author(s):  
Stefano Dafarra ◽  
Francesco Romano ◽  
Francesco Nori
Keyword(s):  
Humanoid Robot ◽  
Design And Implementation ◽  
Push Recovery ◽  
Recovery Design

scholarly journals Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control

2017 ◽  
Author(s):  
Milad Shafiee-Ashtiani ◽  
Aghil Yousefi-Koma ◽  
Reihaneh Mirjalili ◽  
Hessam Maleki ◽  
Mojtaba Karimi
Keyword(s):  
Feedback Control ◽  
Humanoid Robot ◽  
Push Recovery ◽  
Capture Point

Design and Implementation of Omni-directional Walking System for Humanoid Robot

2012 ◽  
pp. 428-429
Author(s):  
Chi-Tai Cheng ◽  
Ching-Chang Wong ◽  
Hao-Che Chen ◽  
Yueh-Yang Hu ◽  
I-Hsiang Tseng ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Design And Implementation

Closed-Loop Push Recovery for an Inexpensive Humanoid Robot

2018 ◽  
pp. 233-244 ◽  
Author(s):  
Amirhossein Hosseinmemar ◽  
Jacky Baltes ◽  
John Anderson ◽  
Meng Cheng Lau ◽  
Chi Fung Lun ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Closed Loop ◽  
Push Recovery

First human–robot archery competition: a new humanoid robot challenge

2020 ◽  
Vol 35 ◽  
Author(s):  
Kuo-Yang Tu ◽  
Hong-Yu Lin ◽  
You-Ru Li ◽  
Che-Ping Hung ◽  
Jacky Baltes
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Special Design ◽  
Design And Development ◽  
Trade Off ◽  
Design And Implementation ◽  
Structure And Motion ◽  
Further Development

Abstract A humanoid robot developed to play multievent athletes like human has paved a way for interesting and popular robotics research. One of the great dreams is to develop a humanoid robot being able to challenge human athletes. Therefore, the challenge of humanoid robots to play archery against human is organized at Taichung, Taiwan, in HuroCup, FIRA 2018, on August 7th. The difficulties of developing humanoid robot are not just on playing archery. The humanoid robots for HuroCup must make use of the same hardware for the 10 events. In this paper, the design and implementation of the humanoid robot for archery are proposed under the trade off with other nine events. Therefore, the humanoid robot must have some special design and development on software. More specially, the humanoid robot must use professional bow to challenge human for archery competition. Therefore, in this paper, special shooting posture under constrained arm structure and motion planning of both arms for more torque to play professional bow are proposed. In addition, the further development of humanoid robot to improve archery shooting is summarized.

Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot

2006 ◽  
Vol 18 (3) ◽  
pp. 286-298 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Functional Modules ◽  
Design And Implementation ◽  
Different Types ◽  
Robot Configuration

This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.

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