Synthesizing Object Receiving Motions of Humanoid Robots with Human Motion Database
This paper presents a method for synthesizing motions of a humanoid robot that receives an object from a human, with focus on a natural object passing scenario where the human initiates the passing motion by moving an object towards the robot, which continuously adapts its motion to the observed human motion in real time.
Ray-Shooting Algorithms for Robotics
This paper discusses several general ray-shooting algorithms and their applications to these problems in robotics.
Inertial Parameter Estimation of Floating Base Humanoid Systems using Partial Force Sensing
In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the nullspace of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.).
A Neuromuscular Locomotion Controller that Realizes Human-like Responses to Unexpected Disturbances
In this paper, we demonstrate that a neuromuscular controller built based on the human anatomical structure and motion data can realize human-like responses to unexpected disturbances during locomotion.
Optimization and Control of Cyclic Biped Locomotion on a Rolling Ball
This paper investigates the optimization and control of biped walking motion on a rolling cylinder.
Effect of Foot Shape on Locomotion of Active Biped Robots
This paper investigates the effect of foot shape on biped locomotion. In particular, we consider planar biped robots whose feet are composed of curved surfaces at toe and heel and a flat section between them.
Evaluation of Grasp Force Efficiency Considering Hand Configuration
This paper proposes a new grasp force efficiency (GFE) measure that considers not only contact point locations but also the hand configuration and mechanism. GFE evaluates the largest wrench applied to the object that the grasp can resist with unit contact forces.
Systematic Derivation of Simplified Dynamics for Humanoid Robots
This paper describes a general method for systematically obtaining simplified models of humanoid robots. We demonstrate an application of derived models to humanoid robot balance control using linear quadratic regulators.
An Efficient Algorithm for a Generalized Distance Measure
This paper presents an efficient algorithm for computing a distance measure between two compact convex sets Q and A, defined as the minimum scale factor such that the scaled Q is not disjoint from A.
Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks.
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