Showing papers by "Shuuji Kajita published in 2009"

Cybernetic human HRP-4C

Abstract: The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the design process, mechanical features, and electrical features with specifications of HRP-4C.

Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots

Abstract: This paper presents preliminary results on generating walking and turning motion of a humanoid robot based on human motion data obtained by using motion capturing system. The target humanoid robot is recently released HRP-4C, which looks like a Japanese woman with realistic geometry. One of the main uses of this robot is to be entertainment. Therefore it is important that the robot's motions are easily created, and feasible for the robot. Captured human motion data are used as a starting point, to which the following modifications are added: step length, speed, rotational angle during turn, and so on. Dynamic balance is also considered. Verification is conducted through both simulation and experiment with HRP-4C. A turning performance based on human motion is successfully demonstrated.

Reactive stepping to prevent falling for humanoids

Abstract: This paper proposes a reactive motion controller for a humanoid robot to maintain balance against a large disturbance, by relatively stepping. A reactive step is performed by the robot, so that it reduces the disturbance force. Several problems are addressed: first the motion is designed to ensure the respect of stepping constraints such as a dynamical stability, motion feasibility of the swing leg and so on. Moreover the stepping has to be generated in real-time and to be updated as quick as possible after the disturbance. To overcome these problems, we extend simultaneous the center of gravity (COG) and the zero-moment point (ZMP) planning based on a generic analytical solution of the linear inverted pendulum [8]. The ZMP fluctuation and the modification of foot placement are determined by numerical optimization according to the position and velocity error of the COG due to the disturbance. All these computations are performed at low cost. The proposed method is validated through several simulations.

Toward human-like walking pattern generator

Abstract: In this paper, we generate the biped gait of a humanoid robot that looks like a human's one. To generate the human like motion, we first capture walking motion of a human. Then, we analyze the captured data and obtain several information such as the relationship between the step length and waist height etc. We consider applying these informations to the real humanoid robot. Also, when the human walks, the sway of the waist is smaller than most of the humanoid robot's one. By compensating the angular momentum of the robot and by modifying the ZMP trajectory, we show that sway of the robot's waist can be smaller. We show the effectiveness of the proposed method through simulation and experimental results.

Creating facial motions of Cybernetic Human HRP-4C

Abstract: HRP-4C is our novel biped humanoid robot whose body shape and face appearance are quite similar to those of female humans. It can make not only various whole body motions including biped locomotion but also various facial motions using eleven axes joints inside the head. This paper focuses on the face of HRP-4C, the mechanical structure of it and the software system for creating its facial motions. To make creation process of the facial motions easy and efficient is one of the important technologies for the practical use of the robot. Our system allows controlling the face of actual robot from the graphical user interface running on a client PC with the high responsiveness. This feature enables a creator to efficiently edit detailed facial motions with powerful functions including overdub loop edit, key pose sequence edit with the lip-sync mode, and automatic blinking. By using this system, we were able to rapidly make facial motions for the demonstrations of HRP-4C.

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

Abstract: For the purpose of realizing the humanoid robot walking on uneven terrain, this paper proposes the kinodynamic gait planning method where both kinematics and dynamics of the system are considered. We can simultaneously plan both the foot-place and the wholebody motion taking the dynamical balance of the robot into consideration. As a dynamic constraint, we consider the differential equation of the robot’s CoG. To solve this constraint, we use a walking pattern generator. We randomly sample the configuration space to search for the path connecting the start and the goal configurations. To show the effectiveness of the proposed methods, we show simulation and experimental results where the humanoid robot HRP-2 walks on rocky cliff with hands contacting the environment.

Humanoid Robots in the Future

Abstract: (2009). Humanoid Robots in the Future. Advanced Robotics: Vol. 23, Academic Roadmap of Robotic Technology in Japan, pp. 1527-1531.

Introduction à la commande des robots humanoïdes - De la modélisation à la génération du mouvement

Abstract: Ce livre expose les toutes recentes avancees technologiques en matiere de robotique humanoide. Apres un rappel des notions mathematiques et physiques fondamentales, il expose les modeles et les techniques actuellement utilisees pour generer un mouvement humanoide simple et propose des exemples de programmation en code Matlab® pour realiser des mouvements de base (marche bipede, stabilisation, prehension d'un objet). L'ensemble de ces applications sont validees sur le robot japonais HRP-2.