We seek intuitive, e cient ways to create and direct human-like behaviors for humanoid robots. Here we present a method to enable humanoid robots to acquire movements by imitation. The robot uses 3D vision to perceive the movements of a human teacher, and then estimates the teacher's body postures using a fast full-body inverse kinematics method that incorporates a kinematic model of the teache...

This paper proposes a novel shuffle turning method for a humanoid robot by controlling load distribution of each sole. Conventionally, turning motion of a humanoid robot is performed by repeating of stepping the feet. However the motion is inefficient and time consuming. In our proposed methods, the feet are slipped on the floor without stepping. To minimize variation of the turning angle due t...

In this paper an online posture modification method termed Jacobi Compensation is proposed, which modifies precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can accomodate for modeling errors in trajectory precalculation in that for instance the center of mass (CoM) or certain parts of the humanoid mechanism can be shifted to increase walkin...

The development process to achieve walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of the 17 DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed to track t...

This paper is mainly to concern the research of auto-balance control for the humanoid robot. A stable gait planning is the most essential and important part in the study of humanoid robot. Therefore, we design and implement a fuzzy auto-balance controller. Firstly, this paper introduces the humanoid robot (NCKU-1) that we construct and addresses the overview of our robot system, which includes ...

An epoch of humanoid robotics started from the astonishing reveal of Honda P2 in 1996, and the focus of interest in the field has been the motion control of humanoid robots as well as the development of the hardware in the beginning of the decade. A reliable hardware with the minimum level of the mobility can be a research platform of humanoid robotics as well as mobile robot platforms like Nom...

Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented using Colored Petri Nets. For keeping dynamic balance of the robot, combination of Gyroscope and Accelerometer sensors are used in algorithm. Image processi...

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP...

This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoi...

This paper reports our research efforts on social robots that recognize interpersonal relationships. These investigations are carried out by observing group behaviors while the robot interacts with people. Our humanoid robot interacts with children by speaking and making various gestures. It identifies individual children by using a wireless tag system, which helps to promote interaction such a...