Abstract— Randomized motion planning techniques are responsible for many of the recent successes in robot control. However, most motion planning algorithms assume perfect and com...
— This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has ...
— A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of ma...
— Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simpli...
Ravi Balasubramanian, Alfred A. Rizzi, Matthew T. ...
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...