Universal Balancing Controller for Robust Lateral Stabilization of Bipedal Robots in Dynamic, Unstable Environments
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.
Tim Oberhauser
Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots
Developing control methods that allow legged robots to move with skill and agility remains one of the grand challenges in robotics.
Darrin Bentivegna
Extraction of Person-Specific Motion Style based on a Task Model and Imitation by Humanoid Robot
In this paper, we present a humanoid robot which extracts and imitates the person-specific differences in motions, which we will call style.
Task Assignment and Trajectory Optimization for Displaying Stick Figure Animations with Multiple Mobile Robots
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.
A Low-Friction Passive Fluid Transmission and Fluid-Tendon Soft Actuator
Sit-to-Stand Task on a Humanoid Robot from Human Demonstration
In this work, we perform the challenging task of a humanoid robot standing up from a chair.
Playing Catch and Juggling with a Humanoid Robot
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.
Practical Kinematic and Dynamic Calibration Methods for Force-Controlled Humanoid Robots
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.
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