4 accepted papers
In order for a humanoid robot to traverse uneven terrain without falling over, the robot must control its landing position appropriately. To determine the landing position, there are two difficulties in terrain recognition and leg motion control. In terrain recognition, it is difficult to recognize…
Humanoids operate in repeated contact and non-contact with their environment and so the motion of humanoids such as walking on uneven terrain or in a narrow space requires the accurate force and position control. Joint torque control systems are suitable for position and force control, but are prone…
When robots walk on uneven terrain, trajectory planning should take into account both the whole-body dy-namics and the ground geometry simultaneously. In uneven terrain environments, there are only a limited number of places where the robot is able to make stable contact with the ground without its…
We developed a method to enable a humanoid robot to carry stacked boxes. In order to transport objects efficiently, it is necessary to carry multiple objects at the same time, but in previous studies, humanoid robots have only been able to carry a single object. When a humanoid robot carries stacked…