It is important to recall that humanoid robot technology derives from the technology of industrial robots. It is obvious that the developments of bipedal robots such as the integration of robot-upper limbs to complex anthropomorphic structures have benefited from progress in mechanical structures, sensors and actuators used in industrial robot-arms. A direct link is sometimes made between the t...

This paper describes a technique for autonomously exploring a complex steel bridge environment using a 6DOF anthropomorphic robotic arm, instrumented with a laser range scanner. Potential knowledge gained from a 3D range scan at an end-effector position and orientation (pose) is estimated, then arm configurations which avoid obstacles and unknown areas are computed using an optimisation approac...

The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called Stewart platform, that is a 6-DOF platform that can bear high payloads and can achieve hi...

Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on 2D inverted pendulum stabilized with scissored pair control moment gyroscopes. This is fair approximation allowing us to study the dynamics in simplified settings. In this paper propose model for pendulum; neglects all unessential terms and thus suitable analysis. We also simple law based linearization ...

The in-hand manipulation problem with anthropomorphic robotic hands constitutes a challenging area of research. While imitation learning and programming by demonstration have demonstrated to help in this problem, other supervised learning techniques providing more interactivity between an expert teacher and the robot have several advantages. The humanbased genetic algorithm is able to enhance s...

This paper describes ongoing effort in developing an anthropomorphic arm/hand manipulation system as part of the German Humanoid Research Project SFB588. This project aims at building a humanoid robot that assists humans in everyday service tasks. The manipulation part of this project has to deal with a service environment and to cope with the wide variety of objects and activities encountered ...