This paper introduces a switching command-based whole-body operation method for humanoid robots. ... more This paper introduces a switching command-based whole-body operation method for humanoid robots. Humanoid robots are biped machines possessing multiple degrees of freedom (DOF). Due to the complexity of their multi-DOF structure, and the difficulty in maintaining postural stability, whole-body operation of humanoid robots is fundamentally different from traditional fixed-base manipulators or stable-base mobile manipulators. By studying the shifts in locus
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002
This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics ... more This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics platform, which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been lunched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over. In this paper, the mechanisms and specifications of leg module, electrical system, simulation results utilized for deciding specifications, and experimental results are also introduced.
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inv... more For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.
... Figure 3: Lifi-off sequence ... Typi-cally, the foot loses contact with the ground as fast as... more ... Figure 3: Lifi-off sequence ... Typi-cally, the foot loses contact with the ground as fast as F, reaches zero and the robot jumps into the air (Fig-ure 2(b), Figure 3). After the robot takes off at the point A where the reaction force F, becomes zero, the robot takes a free fall trajectory. ...
This paper studies locomotion planning of humanoid robots to pass through narrow spaces. Humanoid... more This paper studies locomotion planning of humanoid robots to pass through narrow spaces. Humanoid robots can alter the style of the locomotion while wheeled robots can not. The proposed method generates a 3D local map from visual information and plans the appropriate locomotion based on the map from biped walking with the variable height and the width and from crawling.
... of the 19% ICRA, pp.3271-3277, 19%. Ahmadi, M. and Buehler. M., '%e ARL Mono@ U Runn... more ... of the 19% ICRA, pp.3271-3277, 19%. Ahmadi, M. and Buehler. M., '%e ARL Mono@ U Running Robot: Contml and Energetics:' Roc. of the 1959 ICRA. pp.1689-1694, 19%. ... of the 2002 ICRA. pp.3992-3997, 2002. 1181 hnp:lhvww.sony.neUSonyInfo/News/RessR03E
A novel framework of biped walking stabilization control is introduced. The target robot is a 42 ... more A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum with ZMP delay. After a preliminary experiment to confirm the linear dynamics, we design a tracking controller for walking stabilization. It is evaluated in the experiments of HRP-4C walking and turning on a lab floor. The robot can also perform an outdoor walk on an uneven pavement.
This paper proposes a novel user interface for creating whole body motions of biped humanoid robo... more This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a key pose is created, modified or removed, the system immediately processes automatic trajectory adjustment of the feet and the waist so that the key poses and the interpolated motion can always meet the conditions. This enables a user to edit variety of motions in an intuitive and flexible way without paying attention to the conditions. We implemented the interface and confirmed that characteristic whole body motions of a realistic humanoid robot HRP-4C were easily created with it and the actual HRP-4C successfully performed them.
... Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technol... more ... Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology(AIST), AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568, Japan. {rio.neo, Kazubito.Yokoi, s.kajita, f-kanehiro, tanie.k}@aist.go.jp ...
... Shuuji Kajita ∗ , Takashi Nagasaki † , Kenji Kaneko ∗ , Kazuhito Yokoi ∗ and Kazuo Tanie ∗† .... more ... Shuuji Kajita ∗ , Takashi Nagasaki † , Kenji Kaneko ∗ , Kazuhito Yokoi ∗ and Kazuo Tanie ∗† ... control Body posture controller calculates additional body rota-tion so that its roll and pitch inclination (φ, θ) matches the specified value (φd,θd) for the running.2 The control law is as ...
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inv... more For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.
This paper introduces a switching command-based whole-body operation method for humanoid robots. ... more This paper introduces a switching command-based whole-body operation method for humanoid robots. Humanoid robots are biped machines possessing multiple degrees of freedom (DOF). Due to the complexity of their multi-DOF structure, and the difficulty in maintaining postural stability, whole-body operation of humanoid robots is fundamentally different from traditional fixed-base manipulators or stable-base mobile manipulators. By studying the shifts in locus
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002
This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics ... more This paper presents an advanced leg module developed for HRP-2. HRP-2 is a new humanoid robotics platform, which we have been developing in phase two of HRP. HRP is a humanoid robotics project, which has been lunched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over. In this paper, the mechanisms and specifications of leg module, electrical system, simulation results utilized for deciding specifications, and experimental results are also introduced.
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inv... more For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.
... Figure 3: Lifi-off sequence ... Typi-cally, the foot loses contact with the ground as fast as... more ... Figure 3: Lifi-off sequence ... Typi-cally, the foot loses contact with the ground as fast as F, reaches zero and the robot jumps into the air (Fig-ure 2(b), Figure 3). After the robot takes off at the point A where the reaction force F, becomes zero, the robot takes a free fall trajectory. ...
This paper studies locomotion planning of humanoid robots to pass through narrow spaces. Humanoid... more This paper studies locomotion planning of humanoid robots to pass through narrow spaces. Humanoid robots can alter the style of the locomotion while wheeled robots can not. The proposed method generates a 3D local map from visual information and plans the appropriate locomotion based on the map from biped walking with the variable height and the width and from crawling.
... of the 19% ICRA, pp.3271-3277, 19%. Ahmadi, M. and Buehler. M., '%e ARL Mono@ U Runn... more ... of the 19% ICRA, pp.3271-3277, 19%. Ahmadi, M. and Buehler. M., '%e ARL Mono@ U Running Robot: Contml and Energetics:' Roc. of the 1959 ICRA. pp.1689-1694, 19%. ... of the 2002 ICRA. pp.3992-3997, 2002. 1181 hnp:lhvww.sony.neUSonyInfo/News/RessR03E
A novel framework of biped walking stabilization control is introduced. The target robot is a 42 ... more A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum with ZMP delay. After a preliminary experiment to confirm the linear dynamics, we design a tracking controller for walking stabilization. It is evaluated in the experiments of HRP-4C walking and turning on a lab floor. The robot can also perform an outdoor walk on an uneven pavement.
This paper proposes a novel user interface for creating whole body motions of biped humanoid robo... more This paper proposes a novel user interface for creating whole body motions of biped humanoid robots just by giving key poses. Although such an interface is popular for CG character animation, there have not been any practical systems that can appropriately handle the kinematic and dynamic conditions required for moving actual biped robots stably without falling down. In our interface, every time a key pose is created, modified or removed, the system immediately processes automatic trajectory adjustment of the feet and the waist so that the key poses and the interpolated motion can always meet the conditions. This enables a user to edit variety of motions in an intuitive and flexible way without paying attention to the conditions. We implemented the interface and confirmed that characteristic whole body motions of a realistic humanoid robot HRP-4C were easily created with it and the actual HRP-4C successfully performed them.
... Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technol... more ... Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology(AIST), AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568, Japan. {rio.neo, Kazubito.Yokoi, s.kajita, f-kanehiro, tanie.k}@aist.go.jp ...
... Shuuji Kajita ∗ , Takashi Nagasaki † , Kenji Kaneko ∗ , Kazuhito Yokoi ∗ and Kazuo Tanie ∗† .... more ... Shuuji Kajita ∗ , Takashi Nagasaki † , Kenji Kaneko ∗ , Kazuhito Yokoi ∗ and Kazuo Tanie ∗† ... control Body posture controller calculates additional body rota-tion so that its roll and pitch inclination (φ, θ) matches the specified value (φd,θd) for the running.2 The control law is as ...
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inv... more For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.
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