— This paper discusses the mechanical kinematics solutions and design aspects of the biped robot SHERPA, a bipedal platform able to walk and carry load. Starting from the analysi...
Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...
Autonomous robots that can adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. Early approaches to this goal du...
This paper presents an architecture for solving generically the problem of extracting the constraints of a given task in a programming by demonstration framework and the problem...
Recent studies have shown that the perception of natural movements--in the sense of being "humanlike"--depends on both joint and task space characteristics of the movemen...