This paper describes methods used in stabilizing the walking gait of TAO-PIE-PIE, a small humanoid robot given rate feedback from two RC gyroscopes. TAO-PIE-PIE is a fully autonomo...
Abstract— We propose to improve the locomotive performance of humanoid robots by using approximated biped stepping and walking dynamics with reinforcement learning (RL). Although...
Jun Morimoto, Christopher G. Atkeson, Gen Endo, Go...
— This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only ...
— Legged robots represent great promise for transport in unstructured environments. However, it has been difficult to devise motion planning strategies that achieve a combinatio...
Abstract— Kinodynamic planning algorithms have the potential to find feasible control trajectories which accomplish a task even in very nonlinear or constrained dynamical system...