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Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military(More)
Humanoid robot is expected as a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, lack in adaptability, agility, or high-mobility enough to meet the expectations. In order to enhance high-mobility, the humanoid motion should be generated in realtime in accordance(More)
We present an algorithm for planning safe navigation strategies for biped robots moving in obstacle-cluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile(More)
This paper describes the development of a Plane Segment Finder, which is able to detect three-dimensional planar surfaces from input images in real-time. We propose an algorithm for detecting plane segments, that includes 1) Plane segment candidate extraction using 3D Hough Transformation from depth map information, 2) Fitting the plane segment candidates(More)
We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set(More)
Bchavior imitation ability will he a key technology for future human friendly robots. In order to understand the principles and mechanisms of imitation, we take B synthet,ic cognitive developmental approach, starting with minimum components and create a system that can learn to imitate others. We developed a visuo-motor neural learning system which consists(More)
In this paper, we describe a planner for a humanoid robot that is capable of finding a path in an environment with movable objects, whereas previous motion planner only deals with an environment with fixed objects. We address an environment manipulation problem for a humanoid robot that finds a walking path from the given start location to the goal location(More)
| A novel task instruction method for future intelligent robots is presented. In our method, a robot learns reusable task plans by watching a human perform assembly tasks. Functional units and working algorithms for visual recognition and analysis of human action sequences are presented. The overall system is model based and integrated at the symbolic(More)
This paper presents an ecient online method t o generate humanoid walking motions that satisfy desired u p p er body trajectories while simultaneously carrying objects. A fast motion pattern genaration technique that follows the desired ZMP is adopted. In order to satisfy the control input given online, subsequent motion patterns are u p dated a n d c(More)