ABSTRAKRiset tentang penggunaan learning dalam motion robot humanoid telah banyak dilakukan di seluruh dunia. Salah satunya adalah melakukan gerakan berjalan pada robot. Penelitian ini akan menjelaskan suatu metode “Rule Based” yang simple dan cepat menemukan solusi stabil T-FLoW . Robot diibaratkan seperti anak kecil belajar berjalan, dia tahu cara tetapi tidak seberapa besar harus menggerakka...

This paper presents a design research conducted as a part of a larger project on intelligent humanoid robots. The primary goal of this study was to develop an initial understanding of how design on humanoid robots should be carried out. Humanoid robot design is different from conventional industrial design. A humanoid robot needs to have personality and character because it interacts emotionall...

This letter presents a passivity-based inverse dynamics (ID) controller using global energy tank. The proposed control approach allows us to achieve safe multi-contact scenario on torque controlled humanoid robot. is primarily task space ID quadratic programming (QP) which efficiently computes the reference satisfying non-hierarchical set of tasks. Our work extends this by adding tank modulatin...

Abstract Reinforcement learning in simulation is a promising alternative to the prohibitive sample cost of reinforcement physical world. Unfortunately, policies learned often perform worse than hand-coded when applied on target, system. Grounded ( gsl ) general framework that promises address this issue by altering simulator better match real world (Farchy et al. 2013 Proceedings 12th internati...

This paper describes the development of a system for measuring airflow moving past the head of a humanoid robot. In recent years there has been growing interest in the development of humanoid robots. To function in a safe and efficient manner a humanoid robot must be 'aware' of its surroundings. For both a human and a humanoid robot airflow can provide useful information. Airflow sensors measur...

in this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses ferguson splines and pso (particle swarm optimization). the objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. ferguson splines create preliminary paths using random generated para...

In order to smoothly perform interactions between a humanoid robot and human, knowledge about the human locomotion can be efficiently used. Indeed, in human-robot collaboration, prediction model of behaviour allows act proactively. this letter, an optimal control based predicting Center Mass (CoM) trajectory during gait is presented. A Walking Pattern Generator (WPG) on non-linear predictive is...

When a humanoid robot walks fast or runs, the yaw torque is so large that the supporting foot slips easily and the robot may become unstable. The compensation for the yaw torque is important for fast humanoid walking and many studies have been focusing on yaw torque compensation. However, the issue of humanoid robot motion design that can make the movements of the rob...

Humanoid walking trajectory is a complex task, due the high number of degrees of freedom (DOFs) and changes on the mechanical structure during walking. A non-trivial problem in bipedal robot walking is the instability produced by violent transitions between different walk phases. This work presents a trajectory generation algorithm for a biped robot. The algorithm is based on cubic Hermitian po...