Since 1996, we have embarked into the journey of developing humanoid robots at Nanyang Technological University, Singapore. We have ventured into the various technical aspects of humanoid robot development. In particular, we have placed special emphasis on mechatronics design of humanoid robots, planning and control of biped walking, hand-eye coordination for humanoid robots, cognitive vision f...

Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, stiffness of chain an important factor that affects performance and can influence behavior biped robot. This work focused on leg’s using mass-spring model based robot AIRO built in Zhejiang Lab. Methods for determination parameters proposed were presented, including use ANSYS Workbench to determine in...

Abstract Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hardand software architecture for an autonomous biped, and experimental...

The behavior of a robot is emerged from the interaction between body, control, and environmental dynamics. The research group B–3 aims to design body and control dynamics for emerging adaptive locomotion. We investigate three types of locomotion, biped, quadruped, and snake-like and developed robots. We also discuss on the lower control architecture for realizing reactive adaptive locomotion.

In this paper, we propose a balance control algorithm based on fuzzy controller using 3D (Dimensional) geometric information obtained from sequential images. The pose of a biped robot is acquired from image information instead of different sensors, and this pose information is used for fuzzy controller to keep biped robot in a stable balanced condition. Initially, the camera mounted on the head...

Abstract Biped robots are inherently unstable because of their complex kinematics as well dynamics. Despite many research efforts in developing biped locomotion, the performance locomotion is still far from expectations. This paper proposes a model-based framework to generate stable locomotion. The core this an abstract dynamics model which composed three masses consider stance leg, torso, and ...

Human beings are highly efficient in maintaining standing balance under the influence of different perturbations. However, biped humanoid robots are far from exhibiting similar skills. This is mainly due to the limitations in the current control and modeling techniques used in humanoid robots. Even though approaches using the Linear Inverted Pendulum Model and the Preview Control schemes have s...