This article presents a new approach to movement planning, on-line trajectory modification, and imitation learning by representing movement plans based on a set of nonlinear di...
Humanoid robots are high-dimensional movement systems for which analytical system identification and control methods are insufficient due to unknown nonlinearities in the system s...
Abstract— In this paper, we present an image-based markerless human motion capture system, intended for humanoid robot systems. The restrictions set by this ambitious goal are nu...
— A fast online gait planning method is proposed. Based on an approximate dynamical biped model whose mass is concentrated to COG, general solution of the equation of motion is a...