Yuki Omori — accepted AI-conference papers

2020

Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds

Yuta Kojio, Yuki Omori, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada +1

RA-L 2020

Maintaining dynamic balance is an important requirement for bipedal robots. To deal with large disturbances, the footsteps need to be modified depending on the disturbance. Currently, there are few methods that determine footsteps by considering foothold constraints and the balance of the robot. In

Cited by 22 Source ↗Scholar ↗

2019

Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning

Yuki Omori, Yuta Kojio, Tatsuya Ishikawa, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi +2

IROS 2019poster

Humanoid robots are expected to conduct tasks on behalf of humans in places such as a disaster scattered environment. Although humanoid robots have potentials to walk on uneven ground unlike wheeled robots, it is difficult to reach a given destination without falling down based on only visual inform…

Cited by 5 Source ↗Scholar ↗