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...

Omnidirectional vision has already been used for attitude and heading estimation, thanks to its wide field of view. We adapt some existing methods in order to obtain a simple vision system capable to estimate pitch, roll and yaw angles for a real time application, using the parallel lines of the environment. We test this visual gyroscope and visual compass in some common environments to show th...

Using pre-recorded human motion and trajectory tracking, we can control the motion of a humanoid robot for free-space, upper body gestures. However, the number of degrees of freedom, range of joint motion, and achievable joint velocities of today’s humanoid robots are far more limited than those of the average human subject. In this paper, we explore a set of techniques for limiting human motio...

I majored in robotics and humanoid robots are the dream of every researcher in robotics. When I first saw the Honda Asimo, I really wanted to create my own humanoid robot. This is a very personal motivation to start humanoid robotic research. Secondly, humanoid robots are the ultimate form of service robots. While today most robots drive on wheels, eventually, two-legged locomotion is the best ...

This manuscript present my research activities on real-time vision-based behaviors for complex robots such as humanoids. The underlying main scientific question structuring this work is the following: “What are the decisional processes which make possible for a humanoid robot to generate motion in real-time based upon visual information ?” In soccer humans can decide to kick a ball while runnin...