In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected wit...

Researches on humanoid robots have become more and more active in various fields. One of the purposes is to construct a coexistent and cooperative society between humanoid robots and human. The body of humanoid robots is similar to human beings enabling them to walk with a pair of legs and to work with their hands. Therefore, humanoid robots have advantages to work in human environment. So, res...

Recently, many studies have focused on the development of humanoid biped robot platforms. Some of the well-known humanoid robots are Honda’s humanoid robots, the WABIAN series of robots from Waseda University, Partner, QRIO, H6 and H7, HRP and JOHNNIE. Given that humanoids are complex, expensive and unstable, designers face difficulties in constructing the mechanical body, integrating the hardw...

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

This paper describes a process for evolving a stable humanoid walking gait ihai is based around parameierised loci of motion. The parameters of the loci are chosen by an evolutionory process based on the criteria that the robot’s ZMl’ (Zero Moment Point) follows a desirable path. The paper illustrates the evolution of a straight line walking gait. The gait has been tested on a 1.2m iall humanoi...

the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons’ walking is proposed. It has two 6-DOF legs, two 1-passive-DOF ...

Since a humanoid robot takes the morphology of human, users as pilots will intuitively expect that they can freely manipulate the humanoid extremities. However, it is difficult to simultaneously issue such multiple control inputs to the whole body with simple devices. It is useful for motion pattern generation to get mapping functions bidirectionally between a large number of control inputs for...

There are several approaches to create the Humanoid robot gait planning. This problem presents a large number of unknown parameters that should be found to make the humanoid robot to walk. Optimization in simulation models can be used to find the gait based on several criteria such as energy minimization, acceleration, step length among the others. The presented paper addresses a comparison bet...

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...

In the field of robotics there is a great interest in developing strategies and algorithms to reproduce humanlike behavior. Programming a humanoid robot to walk is a challenging problem. Traditional approaches rely heavily on prior knowledge of the robot’s physical parameters to devise sophisticated control algorithms for generating a stable gait. We present two approaches to solve the motion p...