Robotics

In this paper, we present a shoulder design using a novel differential mechanism to counterbalance the arm while preserving an anthropomorphically favorable singularity configuration and natural range-of-motion. Furthermore, because the motors driving the shoulder are completely grounded, counterbalance masses or springs are easily placed away from the shoulder and low in the torso, improving mass distribution and balance.

This paper studies the balancing of simple planar bipedal robot models in dynamic, unstable environments like seesaw, bongoboard and board on a curved floor.

This paper presents a novel universal balancing controller that successfully stabilizes a planar bipedal robot in dynamic, unstable environments like seesaw and bongoboards, and also in static environments like curved and flat floors.

Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics.

In this paper, we present a humanoid robot which extracts and imitates the person-specific differences in motions, which we will call style.

This paper presents an offline, centralized motion planning algorithm for displaying stick figure animations by a group of mobile robots equipped with a light source.

In this work, we perform the challenging task of a humanoid robot standing up from a chair.

Entertainment robots in theme park environments typically do not allow for physical interaction and contact with guests. However, catching and throwing back objects is one form of physical engagement that still maintains a safe distance between the robot and participants. Using a theme park type animatronic humanoid robot, we developed a test bed for a throwing and catching game scenario.

This paper presents methods and experimental results regarding the identification of kinematic and dynamic parameters of force-controlled biped humanoid robots. We first describe a kinematic calibration method to estimate joint angle sensor offsets. The method is practical in the sense that it only uses joint angle and link orientation sensors, which most humanoid robots are equipped with.