5 accepted papers
Almost all (not to say all) existing humanoids have not been designed with the ability to change their end-effectors (head, feet and hands) on-the-fly. Inspired by the tool-changing mechanisms in robotics automation and manufacturing, we propose an end-effectors changer mechanism suitable to humanoi
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is essential. We develop a method to realize such whole-body multi-con
This letter introduces the humanoid robot HRP-5P, which stands for Humanoid Robotics Platform-5 Prototype. We have been developing the HRP series humanoid robots since 2000, and HRP-5P is the latest version of the HRP series as of 2018. It is developed as a prototype for our next generation humanoid
In order to accurately reach a target position while executing a task which imposes occlusion or constraints of the posture, a humanoid robot requires an adaptive locomotion system, which can comprehensively integrate localization, environmental mapping, global locomotion planning and local error co…
For heavy duty tasks which are needed in field or rough terrain, we developed a hydrostatically actuated anthropomorphic hand. The hand is specifically designed for the humanoid robot HYDRA, whose 40 joints are driven by back-drivable electro-hydrostatic actuators (EHA). Each designed hand has four…