Shusheng Lv

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This paper explores the method of designing humanoid motion considering rhythm based on human motion capture. Captured human data must be adapted for the humanoid because its kinematics and dynamics differ from those of the human actor. On the other hand, it is expected that humanoid movements are highly similar to those of the human actor. In this paper,(More)
This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed(More)
This paper presents the trajectory planning for stepping over obstacles of different sizes at known location by Humanoid Robot BHR-2. In the trajectory generation method, first we formulate the constraints of the foot motion parameters which include obstacle dimensions. By varying the values of the constraint parameters, we can produce different types of(More)
The captured human data can't be used to drive the humanoid robot directly because of different body's configurations and physical properties between the humanoid robot and the human actor, and it must be adapted through stability adjustment. The stability is a fundamental condition for humanoid motion. A method of stability adjustment considering high(More)
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