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 ...

A humanoid robot that can go up and down stairs, crawl underneath obstacles or simply walk around requires reliable perceptual capabilities for obtaining accurate and useful information about its surroundings. In this work we present a system for generating threedimensional (3D) environment maps from data taken by stereo vision. At the core is a method for precise segmentation of range data int...

A simulator of humanoid robots and a controller of their whole body motions in METI’s Humanoid Robotics Project are developed. The simulator can emulate the dynamics of the motions of the robots whose structure may vary, and generate a sequence of the fields of view from the eyes of the robot according to the motions. The structure-varying system is managed by introducing virtual links. The con...

Simulation is often used in research and industry as a low cost, high efficiency alternative to real model testing. Simulation has also been used to develop and test powerful learning algorithms. However, parameters learned in simulation often do not translate directly to the application, especially because heavy optimization in simulation has been observed to exploit the inevitable simulator s...

In Robocup, The most important sensor on humanoid robot soccer is a camera. The camera serves as the eyes of the robot as well as in humans. This camera is used by the robot to detect the ball. The task of Humanoid Robot Soccer as a Goalkeeper is to keep the goal and must be able to block a ball that came directly to the goal from many directions so the ball is not got into the goal. As already...

In this paper, we propose a new model using central pattern generators (CPG) for the stable motion of Humanoid robot. After that we compare the proposed model with the existing Taga’s model of humanoid robot. The Matsuoka Neural Oscillators are used to generate the required signals to realize the coordinated movement of a musculoskeletal model of humanoid

The authors have focused on the bipedal humanoid robot expected to play an active role in human living space, through studies on an anthropomorphic biped walking robot. As the first stage of developing a bipedal humanoid robot, the authors developed the human-size 35 active DOF bipedal humanoid robot “WABIAN” and the human-size 41 active DOF bipedal humanoid robot “ WABIAN-R”. The authors also ...

This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowin...

In this paper, we present a control system based on embedded system according to the features of humanoid robot. First, the image captured by the vision system is recognized through the improved look-up table method. And then with a smooth gait planning of turning motion for humanoid robot presented, the next several motions for the robot can be proposed by the local motion planner based on the...