Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the...
— In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion...
Humanoid robot is expected as a rational form of machine to act in the real human environment and support people through interaction with them. Current humanoid robots, however, l...
— We present an approach to motion planning for highly articulated systems that aims to ensure robust execution by augmenting the planning process to reason about the robot’s a...
Philipp Michel, Christian Scheurer, James J. Kuffn...
- In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot–2). KHR-2 has 41 DOFs in total, that allow...
Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim...