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This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is expected that humanoid movements are highly similar to those of the human actor. In this paper,(More)
This paper presents a humanoid robot BHR-2 capable of performing stepping on and off a flat obstacle of known dimension. The trajectory comprises of two phases for the task completion. The first phase starts with the left foot raised from the ground and reaching the obstacle base tracking the trajectory points generated by spline interpolation. The end of(More)
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