We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain from proprioceptive and inertial sensors. Compliant controllers for the ankle joints are used to actively probe the surrounding surface, and the measured sensor data are combined to explicitly learn the global inclination...

This paper presents a general method for planning collision-free wholebody walking motions for humanoid robots. First, we present a randomized algorithm for constrained motion planning, that is used to generate collision-free statically balanced paths solving manipulation tasks. Then, we show that dynamic walking makes humanoid robots small-space controllable. Such a property allows to easily t...

Robot learning in simulation is a promising alternative to the prohibitive sample cost of learning in the physical world. Unfortunately, policies learned in simulation often perform worse than hand-coded policies when applied on the physical robot. Grounded simulation learning (GSL) promises to address this issue by altering the simulator to better match the real world. This paper proposes a ne...

In this paper, we evaluate the control performance of SSVEP (steady-state visual evoked potential)- and P300-based models using Cerebot-a mind-controlled humanoid robot platform. Seven subjects with diverse experience participated in experiments concerning the open-loop and closed-loop control of a humanoid robot via brain signals. The visual stimuli of both the SSVEP- and P300- based models we...

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 3D environment maps from data taken by stereo vision. At the core is a method for precise segmentation of range data into planar segments ...

This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's...

Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptive behaviors are required. This paper proposes a solution for automatic generation of a walking gait using ge...

Bipedal walking is one of the most essential skills in humanoid robot soccer. A stable and fast gait gives teams a winning edge when their robots are the first at the ball, maintain ball control with sure feet, and drive the ball decisively towards the opponent goal. The most successful teams in the Humanoid League are typically characterized by reliably walking robots. In this contribution, we...

This paper presents balance control of humanoid robot for HuroSot using its upper body motion and swinging two arms. The upper body is modeled as an inverted pendulum for an on-line compensation. By using the upper body motion it compensates ZMP (Zero Moment Point) error, obtained by FSR (Force Sensitive Resistor) sensors attached on the sole of the foot. Also by swinging the arms it can cancel...