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Modifiable walking pattern generation using real-time ZMP manipulation for humanoid robots

Bum-Joo Lee, Daniel Stonier, Yong-Duk Kim, Jeong-Ki Yoo, Jong-Hwan Kim
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper utilizes the 3D-LIPM(Linear Inverted Pendulum Model) for generating a walking pattern, but introduces a method that allows for manipulation of the ZMP over the convex hull of the foot polygon  ...  Complex navigational commands require a walking pattern generator that is able to modify the pattern at any point in the walking gait.  ...  CONCLUSIONS A modifiable walking pattern generator was introduced and implemented on the humanoid robot HanSaRam-VII.  ... 
doi:10.1109/iros.2007.4399231 dblp:conf/iros/LeeSKYK07 fatcat:34ljsr4vtbc75oeo4i257jy3xe

Real-Time Planning of Humanoid Robot's Gait for Force-Controlled Manipulation

Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa
2007 IEEE/ASME transactions on mechatronics  
This paper proposes a new style of manipulation by a humanoid robot.  ...  Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one.  ...  Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion.  ... 
doi:10.1109/tmech.2006.886254 fatcat:xcwghmu7sbg7dj2nw3gt54pxde

Real-time planning of humanoid robot's gait for force controlled manipulation

K. Harada, S. Kajita, F. Kanehiro, K. Fujiwara, K. Kaneko, K. Yokoi, H. Hirukawa
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper proposes a new style of manipulation by a humanoid robot.  ...  Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one.  ...  Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion.  ... 
doi:10.1109/robot.2004.1307217 dblp:conf/icra/HaradaKKFKYH04 fatcat:5eapxqc4xvhavo6h2qpibmnp6q

Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation
力制御型マニピュレーションに基づくヒューマノイドロボットの実時間歩容計画

Kensuke HARADA, Shuuji KAJITA, Fumio KANEHIRO, Kiyoshi FUJIWARA, Kenji KANEKO, Kazuhito YOKOI, Hirohisa HIRUKAWA
2005 Transactions of the Japan Society of Mechanical Engineers Series C  
This paper proposes a new style of manipulation by a humanoid robot.  ...  Also, for planning the gait in real-time, we newly propose an analytical method where the newly calculated trajectory of the robot motion is smoothly connected to the current one.  ...  Real-time Generation of Gait Pattern: In most of the previous researches [8] , [9] , [12] , the gait pattern for a biped robot has been generated offline in advance of the actual motion.  ... 
doi:10.1299/kikaic.71.3181 fatcat:pgxo4puz45civiw22axozkxkqq

Slip observer for walking on a low friction floor

K. Kaneko, F. Kanehiro, S. Kajita, M. Morisawa, K. Fujiwara, K. Harada, H. Hirukawa
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Although biped humanoid robots are expected to easily adapt to environments designed for human, in fact they tend to tip over easily on real environments.  ...  For a practical use, it is one of important issues to stabilize a biped walking on an unexpected slippery floor with a low friction.  ...  Hajime Saito who are members of General Robotix, Inc. for their valuable comments.  ... 
doi:10.1109/iros.2005.1545184 dblp:conf/iros/KanekoKKMFHH05 fatcat:34argtunqrcv7cwdz4tnoyiuku

An Open Loop Walking on Different Slopes for NAO Humanoid Robot

Amir Massah B, Arman Sharifi K., Yaser Salehinia, Farid Najafi
2012 Procedia Engineering  
Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness.  ...  Then, the stability of the motion is guaranteed using Zero Moment Point (ZMP) stability criterion.  ...  In this paper, a trajectory planning approach is proposed for NAO humanoid robot based on ZMP criterion using carttable model.  ... 
doi:10.1016/j.proeng.2012.07.176 fatcat:ttfadctykfe7bnnymlxcoeutze

Biped Walking Pattern Generator allowing Auxiliary ZMP Control

Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is presented.  ...  An auxiliary ZMP is realized by an inverse system added to a pattern generator based on the ZMP preview control.  ...  INTRODUCTION A number of successful biped humanoid robots have been adapting the Zero-Moment Point (ZMP) [1] , [2] for their walking pattern generation and control.  ... 
doi:10.1109/iros.2006.282233 dblp:conf/iros/KajitaMHKKFH06 fatcat:gjnva2h2lfg6dpc2axkinc74em

The Rh-1 Full-Size Humanoid Robot: Control System Design and Walking Pattern Generation [chapter]

Mario Arbulu, Dmitry Kaynov, Carlos Balaguer
2010 Climbing and Walking Robots  
In addition, real-time walking pattern generation is possible, which changes direction, length and step width at any time using the information from sensors or by external command of the humanoid robot  ...  www.intechopen.com The Rh-1 full-size humanoid robot: Control system design and Walking pattern generation 489 This upper limit of the sample time is a strict real-time requirement considering the complexity  ... 
doi:10.5772/10422 fatcat:rxwi5xwdr5gathgzzyyymqe3i4

Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement

Jung-Yup Kim, Ill-Woo Park, Jun-Ho Oh
2006 Advanced Robotics  
This paper describes a novel control algorithm for dynamic walking of biped humanoid robots. For the test platform, we developed KHR-2 (KAIST Humanoid Robot-2) according to our design philosophy.  ...  First, for the biped walking motion, the motion control architecture is built and then an appropriate standard walking pattern is designed for the humanoid robots by observing the human walking process  ...  Acknowledgements This research was mainly supported by KAIST (Korea Advanced Institute of Science, and Technology) and partly supported by HWRS (Human Welfare Robotic System) and the BK-21 (Brain Korea  ... 
doi:10.1163/156855306777361622 fatcat:fbqqsrkt75dshe7456wi2audgm

Humanoid Robot System, HanSaRam-VII for RoboMarathon in HuroCup

Jeong-Ki Yoo, Yong-Duk Kim, Bum-Joo Lee, In-Won Park, Jong-Hwan Kim
2008 IFAC Proceedings Volumes  
In addition, time-domain passivity control algorithm is introduced to guarantee the stable walking pattern generation. The performance of the system is demonstrated through the RoboMarathon.  ...  This distributed control architecture includes vision processing, navigation and on-line walking pattern generation algorithm.  ...  Most of the humanoid robot researches are focusing on walking pattern generation.  ... 
doi:10.3182/20080706-5-kr-1001.00516 fatcat:3w2qah47gzaa3i7xdobx3dbs2a

Fast foot prints re-planning and motion generation during walking in physical human-humanoid interaction

Olivier Stasse, Paul Evrard, Nicolas Perrin, Nicolas Mansard, Abderrahmane Kheddar
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
This is obtained using a real-time pattern generator allowing on-line foot-print modification integrated in a stack of controllers.  ...  In this paper a system allowing real-time interaction between a human and a humanoid robot while walking is presented.  ...  REAL-TIME WALKING PATTERN GENERATOR This section recalls briefly the method proposed by Morisawa et al. [7] .  ... 
doi:10.1109/ichr.2009.5379563 dblp:conf/humanoids/StasseEPMK09 fatcat:chrllkltrnbifpoz55aaeavwn4

MODELING AND SIMULATION OF THE HUMANOID ROBOT HOAP-3 IN THE OPENHRP3 PLATFORM

C. A. Monje, P. Pierro, T. Ramos, M. González-Fierro, C. Balaguer
2013 Cybernetics and systems  
This will be the first step before testing the motion patterns in the real HOAP-3. We use the OpenHRP3 platform for the creation and validation of the robot model and tasks.  ...  The aim of this work is to model and simulate the humanoid robot HOAP-3 in the OpenHRP3 platform.  ...  This is a free solution that will be used in this work to model the humanoid robot HOAP-3 and simulate walking patterns before the final test in real time with the real robot.  ... 
doi:10.1080/01969722.2013.832095 fatcat:ldas3dnid5et3lualbx7geg7bm

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Paul Evrard, Nicolas Mansard, Olivier Stasse, Abderrahmane Kheddar, Thomas Schauss, Carolina Weber, Angelika Peer, Martin Buss
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
humanoid robot.  ...  Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant  ...  Hence the pattern generator is used as a planner which generates a stable motion within a fixed time (currently 3.2s).  ... 
doi:10.1109/iros.2009.5354412 dblp:conf/iros/EvrardMSKSWPB09 fatcat:twwqpa6xubgihkpobp23wxaufm

Integrating geometric constraints into reactive leg motion generation

Fumio Kanehiro, Mitsuharu Morisawa, Wael Suleiman, Kenji Kaneko, Eiichi Yoshida
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
It can generate feasible walking pattern in real-time by modifying the swing leg motion and the next landing position at each control cycle.  ...  The proposed method is validated by experiments using a humanoid robot HRP-2.  ...  motion planning and execution through online information structuring in real-world environment".  ... 
doi:10.1109/iros.2010.5651634 dblp:conf/iros/KanehiroMSKY10 fatcat:d6f7zkxenzho7gaxdvfxr7rqxe

Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 Springer Handbook of Robotics  
The ZMP can be used to plan walking patterns that make the robot dynamically stable while walking.  ...  For example, Sony's humanoid robot QRIO is equipped with a field-programmable gate array (FPGA) to generate disparity maps in real time from the stereo cameras.  ... 
doi:10.1007/978-3-319-32552-1_67 fatcat:xgkavbgzmbae7mo4wjdrmivkdu
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