In this paper we elaborate a study on self-stabilizing humanoid robot that achieves run-time self-stabilization and energy optimized walking gait pattern parameters on different kinds of flat surfaces. The algorithmic approach named SelSta uses biologically inspired notions that introduce robustness into the self-stabilizing functionality of the humanoid robot. The approach has been practically...

We introduce a computationally efficient methodology for generating and recognizing free-space movements for humanoid robots. This methodology operates on exemplar-based representations of behaviors. Our method for actuating humanoid robots allows us to perform variations on a given behavior, resulting in a very humanlike movement appearance. Besides control, this method also facilitates classi...

In this paper, we present a wearable interaction system to enhance interaction between a human user and a humanoid robot. The wearable interaction system assists the user and enhances interaction with the robot by intuitively imitating the user motion while expressing multimodal commands to the robot and displaying multimodal sensory feedback. AMIO, the biped humanoid robot of the AIM Laborator...

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while maintaining stability, based on prioritized task control. We also describe a method of modified prioritized kinematic control that constrains the...

This article presents the core elements of a cross-platform tactile capabilities interface (TCI) for humanoid arms. The aim of the interface is to reduce the cost of developing humanoid robot capabilities by supporting reuse through cross-platform deployment. The article presents a comparative analysis of existing robot middleware frameworks as well as the technical details of the TCI framework...

In this paper, a combination of ankle and hip strategy is used for push recovery of a position-controlled humanoid robot. Ankle strategy and hip strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot (CMP) regulation respectively. For controlling the CMP and CoP we need a torque-controlled robot, however most of the conventional humanoid robots are position controlled. ...

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking[1]. In this paper, we presented a follow-walking control method ...

A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of actuators for an actual running robot.

This paper describes a possibility of running humanoid robot based on the physical properties of an existing humanoid robot HRP-2L. To generate running motion, we develop a general method to control the total linear/angular momentum of multi-link system. By this method, we can generate a reliable running pattern. Conducting simulations which take into account of physical restrictions, we show t...

This paper describes an ongoing project to move a simple humanoid robot, without an advanced embedded electronics. We used another wheeled mobile robot which already has a locating system and is equipped with a camera. We will locate the humanoid in the environment based on images, and then take the necessary actions to move it. In the future, we will also move the robot with the camera, so it ...