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In order to handle complex navigational commands, this paper proposes a novel algorithm that can modify a walking period and a step length in both sagittal and lateral planes. By allowing a variation of zero moment point (ZMP) over the convex hull of foot polygon, it is possible to change the center of mass (CM) position and velocity independently(More)
This paper proposes a control method to absorb the landing force or the ground reaction force for a stable dynamic walking of a humanoid robot. Humanoid robot may become unstable during walking due to the impulsive contact force of the sudden landing of its foot. Therefore, a control method to decrease the landing force is required. In this paper,(More)
This paper presents a hybrid architecture designed for the kick motion of a humanoid robot. The principal components of this architecture are vision system, path planner and motion generator. The vision system utilizes captured images for calculating ball and goal positions and simple self-localization using a proposed image preprocessing technique. Based(More)
In this paper, a method to reduce the landing impact force is proposed for a stable dynamic walking of a humanoid robot. To measure the meaningful landing impact force, a novel foot mechanism, which uses FSRs (force sensing resistors), is introduced as well. Humanoid robot might become unstable during the walking due to the impulsive contact force from the(More)
This paper proposes a method to generate an optimal trajectory of nonlinear dynamical system and concurrently optimize multiple performance criteria. As the dimensionality of system increases, it is difficult to find values of cost/reward function of conventional optimal controllers. In order to solve this problem, the proposed method employs iterative(More)
For the purpose of a humanoid robot's stable walking or running, it is important to absorb landing force or ground reaction force which is generated when the robot's foot lands on the ground surface. The force can make the robot unstable, and the problem becomes serious if the robot runs. This paper proposes a control system, which can absorb the landing(More)
Complex navigational commands require a walking pattern generator that is able to modify the pattern at any point in the walking gait. This paper utilizes the 3D-LIPM (linear inverted pendulum model) for generating a walking pattern, but introduces a method that allows for manipulation of the ZMP over the convex hull of the foot polygon whilst in single(More)
This paper presents the recent development of small-sized humanoid robot, HSR (HanSaRam)-VII, which is developed to participate in HuroCup which is one of the game categories of FIRA (www.FIRA.net). As HuroCup is composed of seven kinds of competitions, humanoid robots participating in this league have to be capable of various tasks such as weight lifting,(More)