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In situations where humanoid robots with constrained posture walk through a narrow space (e.g. manufacturing plants and kitchens), shuffling motions that are stepless and possess wide foot supporting area are effective. One of the difficulties of humanoid's shuffle translations is the load distribution between both feet. If sole loads are not distributed(More)
In this paper, we propose a real-time control method for skating motion of humanoid robots. There are three problems for skating motion: (1) keeping dynamic balance, (2) adequately controlling foot force to suppress slipping at the foot, (3) controlling full-body motion in real-time. For solving these problems, we propose the Skating Motion Generator and(More)
In this paper, we develop a waterproof suit for humanoid robots and propose an underwater walking control method. Although very few life-sized humanoid robots are completely waterproof, we can easily make these humanoid robots watertight by putting a waterproof suit on them. In water, humanoid robots are influenced by the two forces due to the water:(More)
This paper proposes a humanoid dance motion generation system that deals with a huge variety of leg motions. While previous research only tackled on a few kinds of leg motions, original human dance leg motions contain various foot touch states such as slide, turn, and heel contact, as well as complex motions such as kick and twist. According to the dance(More)
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