Journal ArticleDOI
Balance control of humanoid robot for hurosot
TLDR
In this article, the upper body of a humanoid robot is modeled as an inverted pendulum for an on-line compensation to compensate ZMP (Zero Moment Point) error, obtained by FSR sensors attached on the sole of the foot.About:
This article is published in IFAC Proceedings Volumes.The article was published on 2005-01-01. It has received 16 citations till now. The article focuses on the topics: Humanoid robot & Zero moment point.read more
Citations
More filters
Journal ArticleDOI
Landing Force Control for Humanoid Robot by Time-Domain Passivity Approach
TL;DR: Time-domain passivity control approach is applied for a control method to absorb the landing force or the ground reaction force for a stable dynamic walking of a humanoid robot.
Proceedings ArticleDOI
Compensation for the landing impact force of a humanoid robot by time domain passivity approach
TL;DR: The time domain passivity controller which has the landing impact force as input and foot's position to trim off the force as output, can guarantee the stability of the robot system without any dynamic model information at all.
Journal ArticleDOI
A ZMP Feedback Control for Biped Balance and its Application to In-Place Lateral Stepping Motion
TL;DR: This work proposes a biped control method for the frontal plane motion based on the ZMP position feedback that does not required the reference motion of the upper body and the motion replanning or modification of the referenceMotion are free against environmental variation.
Proceedings ArticleDOI
Landing Force Controller for a Humanoid Robot: Time-Domain Passivity Approach
TL;DR: A time-domain passivity control approach is applied, which can absorb the landing force of a humanoid robot and can guarantee the stability of the robot system without need of any dynamic model information or control parameters.
Proceedings ArticleDOI
Stabilization control for humanoid robot to walk on inclined plane
TL;DR: A novel stabilization control is proposed for humanoid robot to walk dynamically on an inclined plane, which consists of landing force controller, posture controller and walking pattern generator to walk on the inclined plane based on time-domain passivity approach.
References
More filters
Proceedings ArticleDOI
The development of Honda humanoid robot
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Proceedings ArticleDOI
The intelligent ASIMO: system overview and integration
TL;DR: The structure of the robot system for intelligence, integrated subsystems on its body, and their new functions, and the behavior-based planning architecture on ASIMO and its vision and auditory system are explained.
Journal ArticleDOI
Planning walking patterns for a biped robot
Qiang Huang,Kazuhito Yokoi,Shuuji Kajita,Kenji Kaneko,Hirohiko Arai,Noriho Koyachi,Kazuo Tanie +6 more
TL;DR: This work proposes a method for formulating the problem of the smooth hip motion with the largest stability margin using only two parameters, and derive the hip trajectory by iterative computation.
Journal ArticleDOI
Contribution to the Synthesis of Biped Gait
TL;DR: The connection between the dynamics of an object and the algorithmic level has been modified in this paper, based on two-level control, in introducing feedbacks, that is, a system of regulators at the level of the formed typed of gait only.
Proceedings ArticleDOI
Design and development of research platform for perception-action integration in humanoid robot: H6
Koichi Nishiwaki,Tomomichi Sugihara,Satoshi Kagami,Fumio Kanehiro,Masayuki Inaba,Hirochika Inoue +5 more
TL;DR: The H6 is expected to be a common test-bed for experiment and discussion for various aspects of intelligent humanoid robotics.