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—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)
Giant swing via forward upward circling of the acrobat-robot, " Proc.lization of a class of underactuated mechanical systems via interconnection and damping assignment, " IEEE Trans. Abstract—This paper proposes the walking pattern generation method, the kinematic resolution method of center of mass (CoM) Jacobian with embedded motions, and the design(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(More)