Genci Capi, Yasuo Nasu, Leonard Barolli, Kazuhisa Mitobe and Mitsuhiro Yamano
Going upstairs is a common humanoid robot task. In this paper, a genetic algorithm (GA) gait synthesis method for going upstairs and a radial basis function neural network (RBFNN…
Abstract
Going upstairs is a common humanoid robot task. In this paper, a genetic algorithm (GA) gait synthesis method for going upstairs and a radial basis function neural network (RBFNN) implementation, are considered. The gait synthesis is analyzed based on the minimum consumed energy and minimum torque change. The proposed method can easily be applied to generate the angle trajectories for going downstairs, overcoming obstacles, etc. In our work, the stability is verified through the ZMP concept. For the real time implementation, a RBFNN which is taught based on the GA results, is considered. The RBFNN generates the optimal gait in a very short time, where the input variables are the step length, step height and step time. Simulations are realized based on the parameters of the “Bonten‐Maru I” humanoid robot.
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Kenro Takeda, Yasuo Nasu, Genci Capi, Mitsuhiro Yamano, Leonard Barolli and Kazuhisa Mitobe
Recently, many control architectures for robots have been proposed. However, in these architectures, it is difficult to add new functions to existing applications or add new…
Abstract
Recently, many control architectures for robots have been proposed. However, in these architectures, it is difficult to add new functions to existing applications or add new applications. Moreover, developing a robot control system using many researchers makes it difficult to cooperate with each other. In order to deal with these problems, we propose a Humanoid Robot Control Architecture (HRCA) based on Common Object Request Broker Architecture (CORBA). The proposed HRCA is organized as a client/server control architecture. The HRCA is implemented as an integration of many humanoid robot control modules, which correspond to CORBA servers and clients. By applying these to “Bonten‐Maru I” a humanoid robot, which is under development in our laboratory, we describe the HRCA modules and the effectiveness of HRCA. We confirmed the effectiveness of HRCA from simulation and experimental results. By using the proposed HRCA, the control of the humanoid robot in a distributed environment such as a Local Area Network (LAN) is possible and thus various humanoid robots in the world can share their own modules with each other via the Internet.
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Genci Capi, Yasuo Nasu, Kazuhisa Mitobe and Leonard Barolli
This paper contributes to the problem of humanoid robot gait generation in unknown environments. The intention of the proposed method is to create an autonomous humanoid robot…
Abstract
This paper contributes to the problem of humanoid robot gait generation in unknown environments. The intention of the proposed method is to create an autonomous humanoid robot, able to take decisions and generate the appropriate optimal gait based on the information received by the eye system. Up to now, we have created two modules: walking and going upstairs. In order to create an autonomous humanoid robot, we plan to consider other tasks like going downstairs, creeping, obstacle overcoming, etc. In this paper, we present the simulation and experimental results for real time humanoid robot gait generation realized with the “Bonten‐Maru I” humanoid robot. The results showed that the Neural Network modules generate in a very short time a stable humanoid robot motion.
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Mohammad Jashim Uddin, Yasuo Nasu, Kazuhisa Mitobe and Kou Yamada
Presents the manipulation methods of a low powered direct‐drive robot‐arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in…
Abstract
Presents the manipulation methods of a low powered direct‐drive robot‐arm for heavy object manipulation using a suspension device. Considers manipulation of a suspended tool in the horizontal plane. Presents the algorithm of the hybrid position/force tracking scheme with respect to the dynamic behavior of suspended tools in the horizontal plane. To manipulate the suspended robot‐arm vertically, the hybrid position/force dynamic model has been developed by considering the gravity compensation of the spring balancer. In order to show the possible industrial applications chamfering operations have been carried out. Simulations and experiments demonstrate the feasibility of the proposed systems.