Abstract-This paper studies the balance of a humanoid robot carrying a heavy object. Without knowing the mass and the position of the center of gravity of the object, the humanoid robot carries a heavy object stably by using the force sensor information attached at the wrists and the ankles. We first show how to generate the motion of a humamoid robot by taking the force sensor information into consideration. We also show the method for generating the gait pattern by taking the dynamics of the carried object. The effectiveness of the proposed method is shown by experiments.
JAPANAbsnacf-This paper investigates a method through which a human-size humanoid robot can Fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling. 0-?803-7860-1103/$1?.00 0 2003 IEEE
Abstract-In this paper we realize a real-time communication on Ethernet and develop an onbody distributed control system for a humanoid robot, HRP-3P. Real-time communication on Ethernet is realized by (1) a communication method using the data link layer directly and (2) timing control using a real-time operating system ARTLinux. This enables us to reduce the cost of embedded systems and improve developmental efficiency. A CORBA implementation which works on this communication layer is also developed to increase compatibility with existing software. Finally a small-size distributed robot controller is developed for the onbody network of HRP-3P and a distributed I/O system is developed on top of this.
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