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Based on our previous work that integrated a cognitive architecture, Icarus, and a humanoid robot, Mahru, we extend our use of the architecture to higher-level capabilities of problem solving and learning. During this process, we found the need to address a known limitation of ICARUS's problem solver. An extension is made to allow handling of underspecified(More)
This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP control has been used as a standard method for stable walking control of biped robot systems. Since the ZMP information consists of position and acceleration of the center of gravity (COG) for a(More)
This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design method of posture/walking controller for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with(More)
This work presents a methodology to generate dynamically stable whole-body motions for a humanoid robot, which are converted from human motion capture data. The methodology consists of the kinematic and dynamical mappings for human-likeness and stability, respectively. The kinematic mapping includes the scaling of human foot and Zero Moment Point (ZMP)(More)
Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism(More)
This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded(More)
Visual voice activity detection (V-VAD) plays an important role in both HCI and HRI, affecting both the conversation strategy and sync between humans and robots/computers. The typical speakingness decision of V-VAD consists of post-processing for signal smoothing and classification using thresholding. Several parameters, ensuring a good trade-off between(More)