Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soo...

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...

We propose a model-based reinforcement learning algorithm for biped walking in which the robot learns to appropriately place the swing leg. This decision is based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state at the middle of a step and foot placement to a state at next middle of a step. We also modify the desired walking cycle frequency bas...

This paper proposes a new vision-based system that can extract walking parameters from human demonstration. The system uses only a non-calibrated USB webcam connected to a standard PC, and the human is only required to put three color patches on one of his legs and walk roughly in a perpendicular plane with respect to camera orientation. The walking parameters are then extracted in real time, u...

We have developed a humanoid robot HRP-1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI of Japan, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two of HRP. However HRP-1 is controlled its legs and arms separately, and it is not suitable for so...

Biped locomotion for humanoid robots is a challenging problem that has come into prominence in recent years. As the degrees of freedom of a humanoid robot approaches to that of humans, the need for a better, flexible and robust maneuverability becomes inevitable for real or realistic environments. This paper presents new motion types for a humanoid robot in coronal plane on the basis of Partial...