— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact b...
— In this paper, we generate the biped gait of a humanoid robot that looks like a human’s one. To generate the human like motion, we first capture walking motion of a human. T...
— We show that a humanoid robot can step and walk using simple sinusoidal desired joint trajectories with their phase adjusted by a coupled oscillator model. We use the center of...
Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyo...
This paper studies the quasi-static motion of large legged robots that have many degrees of freedom. While gaited walking may suffice on easy ground, rough and steep terrain requi...
Kris K. Hauser, Timothy Bretl, Jean-Claude Latombe...
- Motion planning is one of the key capabilities for autonomous humanoid robots. Previous researches have focused on weight balancing, collision detection, and gait generation. Mos...