Balance Control of Humanoid Robot for Hurosot

Lee, Bum‐Joo; Kim, Yong-Duk; Kim, Jong-Hwan

doi:10.3182/20050703-6-cz-1902.02088

Cited by 15 publications

(7 citation statements)

References 12 publications

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“…The Fig. 10 Penalty-kick snap shots (2 second time-step) 6. CONCLUSION This paper presented the developments of HanSaRam-VI with regard to its hybrid architecture for vision and behavior scheduler modules in PDA.…”

Section: Methodsmentioning

confidence: 98%

“…Current research on generating walking pattern gene-ration is mainly based on the inverted pendulum model [4]. From the predefined model, several stability maintenance algorithms such as impedance control [5], online (real-time) balance control during walking [6] and time domain passivity control of the landing impact force have been proposed [7]. For stable walking, force control and walking pattern planning algorithms were developed, and their efficiency was shown [8].…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Architecture for Kick Motion of Small-sized Humanoid Robot, HanSaRam-VI

Yoo¹,

Kim²,

Lee³

et al. 2006

2006 SICE-ICASE International Joint Conference

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This paper presents a hybrid architecture designed for the kick motion of a humanoid robot. The principal components of this architecture are vision system, path planner and motion generator. The vision system utilizes captured images for calculating ball and goal positions and simple self-localization using a proposed image preprocessing technique. Based on this information, appropriate path and motion procedures are calculated in the path planner and motion generator embedded within the PDA. As all deliberative decision is made in above three modules, there is temporal independence between deliberative layer and reactive layer of robot control. By virtue of this, all procedures of behavior selection and execution could be done efficiently according to the situation. The performance of the proposed scheme is demonstrated through the kick behavior using small-sized humanoid robot, HSR-VI, developed by RIT lab in KAIST.

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Section: Methodsmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Hybrid Architecture for Kick Motion of Small-sized Humanoid Robot, HanSaRam-VI

Yoo¹,

Kim²,

Lee³

et al. 2006

2006 SICE-ICASE International Joint Conference

Self Cite

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“…The fall occurs because of external disturbances and their perturbation throughout the system. Most advanced humanoid walking robots use a combination of control algorithms to achieve stable humanoid walking in the presence of disturbances [27][28][29][30][31][32][33]. Typically, the robots use a force/torque and/or pressure sensor in the feet to measure external loads directly and then accelerometers and rate gyros to determine the robot's orientation.…”

Section: Control Methodsmentioning

confidence: 99%

Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Muecke

Hong

2011

Intel Serv Robotics

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“…HUBO of KAIST [1], Honda R&D's humanoid robots [2], WABIAN of Waseda University [3], H6 [4], and HanSaRam [5] are some of the better recognized, well-known humanoid robots. Even though the current research has progressed far beyond the studies in walking pattern generation [6], [7] and in real-time balance control [8], [9] during the walking state, the humanoid robots have recently been changed to human friendly robot system. Humanoid robots are expected to assist human activities, triggering considerations in appearance design, functions of behaviors and interactive in human environments. Thus, imitating human motion plays a critical role in the development of social cognition and communication skills, helping in forging links with other people.…”

Section: Introductionmentioning

confidence: 99%

Generating Performance Motions of Humanoid Robot for Entertainment

Park

Kim

Lee

et al. 2007

RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication

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This paper presents the development of generating dance performances of humanoid robot, HSR (HanSaRam) -VII, synchronized with Robonova, for entertainment. This heterogeneous team, RoboBees, participated in 'Robots at Play Award 2006' and nominated as one of top six teams in the world. A method of generating and combining both periodic motion (on-line pattern generator) and aperiodic motion (off-line pattern generator) is investigated along with the control architecture for HSR-VII. Detailed system descriptions of two types of humanoid robots, HSR-VII from KAIST and Robonova from miniROBOT Corp., are included with the experimental results. In addition, the time domain passivity compliance control system is introduced to guarantee the stable periodic motion by changing the initial planned trajectories. Video clip of RoboBees' performance is available at http://rit.kaist.ac.kr.

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Balance Control of Humanoid Robot for Hurosot

Cited by 15 publications

References 12 publications

Hybrid Architecture for Kick Motion of Small-sized Humanoid Robot, HanSaRam-VI

Hybrid Architecture for Kick Motion of Small-sized Humanoid Robot, HanSaRam-VI

Constrained Analytical Trajectory Filter for stabilizing humanoid robot motions

Generating Performance Motions of Humanoid Robot for Entertainment

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