The Coman Humanoid Robot

On-line full body imitation with a humanoid robot standing on 4 its own two feet requires simultaneously maintaining the balance and imitating 5 the motion of the demonstrator. In this paper we present a method that allows 6 real-time motion imitation while maintaining stability, based on prioritized 7 task control. We also describe a method of modified prioritized kinematic 8 control that constrains the imitated motion to preserve stability only when 9 the robot would tip over, but does not alter the motions otherwise. To cope 10 with the passive compliance of the robot, we show how to model the estimation 11 of the center-of-mass of the robot using support vector machines. In the paper 12 we give detailed description of all steps of the algorithm, essentially providing 13 a tutorial on the implementation of kinematic stability control. We present the 14 results on a child sized humanoid robot called Compliant Humanoid Platform 15 or COMAN. Our implementation shows reactive and stable on-line motion 16 imitation of the humanoid robot. 17