Amaranthine: Humanoid Robot Kinematics

Inverse Kinematics for Humanoid Robots

Real-time control of the endeffector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates methods of resolved motion rate control (RMRC) that employ optimization criteria to resolve kinematic redundancies. In particular we focus on two established techniques, the pseudo inverse with e...

Boxing Humanoid Robot

In 2008, Nao robots played soccer for the first time in Robocup in Suzhou, China. This robots are developed to play soccer and for entertainment (e.g. dancing, interacting with children). This report presents that using different motion planning methods (e.g. inverse kinematics, RRTs, potential fields), allows this robot to do more complicated tasks like boxing. The main challenge is to deal wi...

TH-MOS: Humanoid robot

This paper describes the mechanical, electrical and software design of the humanoid robot systems by TH_MOS in KidSize competition RoboCup. The improved MOS_III and newly designed MOS2007 perform as test bed for multiple research fields in the lab, such as locomotion, dynamical vision processing, robot behavior control. A gait planning strategy is proposed and a vision processing method is impl...

Humanoid Drawing Robot

This paper discusses a drawing robot. ISAC, a Dual Armed Humanoid Robot, explores the relationship between technology and creativity. The problem of tracking and mimicking an artist is analyzed. Control of the end-eeector with force sensors is described. Some initial results are given.

Humanoid Robot Balancing