5 accepted papers
This work presents a novel method to keep stable contact and balance while stepping over partial footholds for biped humanoid robots with flat feet. We exploit plantar tactile feedback to detect the geometry of the terrain and reconstruct online the new supporting polygon after landing every step. P
The CoM-ZMP model represents the dominant behaviour of bipedal locomotion with surface contact. However, once the centre of mass (CoM) position goes out of a predefined spatial plane, the horizontal dynamics of the model can couple with its vertical dynamics to be nonlinear. This study theoretically…
In this work, we present a novel method for ankle/foot compliance for biped humanoid robots walking over uneven terrain. Based on distributed plantar proximity sensing, we developed the Preemptive Foot Compliance (PFC) control that generates a Preemptive Ground Reaction Wrench that modifies the foot
This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization t…
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