|
 |
Humanoid Robot Design for Mobility Evolution
|
1. |
Tomomichi Sugihara and Yoshihiko Nakamura : Variable Impedant Inverted Pendulum Model Control for a Seamless Contact Phase Transition on Humanoid Robot, IEEE International Conference on Humanoid Robotics(Humanoids2003), 2003. [ PDF(420KB) ] |
|
2. |
Masafumi OKADA, Tetsuya SHINOHARA, Tatsuya GOTOH, Shigeki BAN and Yoshihiko NAKAMURA : Double Spherical Joint and Backlash Clutch for Lower Limbs of Humanoids, Proc. of IEEE International Conference on Robotics and Automation, 2003. [ PDF(1.18MB) ] |
|
3. |
Tomomichi Sugihara and Yoshihiko Nakamura : Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots, 2nd International Symposium on Adaptive Motion of Animals and Machines(AMAM2003), 2003. [ PDF(441KB) ] |
|
4. |
Tomomichi Sugihara and Yoshihiko Nakamura : Contact Phase Invariant Control for Humanoid Robot based on Variable Impedant Inverted Pendulum Model, IEEE International Conference on Robotics and Automation (ICRA'03), 2003. [ PDF(325KB) ] |
|
5. |
Masafumi OKADA, Tetsuya SHINOHARA, Tatsuya GOTHO, Shigeki BAN and Yoshihiko NAKAMURA : Humanoid Robot Mechanisms for Responsive Mobility, Proc. of 3rd International Symposium on Adaptive Motion of Animals and Machines, Sap-III-3, 2003. [ PDF(1.81MB) ] |
|
6. |
Yoshihiko NAKAMURA, Masafumi OKADA, Tetsuya SHINOHARA, Tatsuya GOTO and Shigeki BAN : Mechanical Challenges for Further Humanoid Robot Evolution, Proc. of The Third IARP International Workshop on Humanoid and Human Friendly Robotics, 2002. [ PDF(1.70MB) ] |
|
7. |
Tomomichi Sugihara, Yoshihiko Nakamura and Hirochika Inoue :Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control, IEEE International Conference on Robotics and Automation(ICRA'02), Washington DC, May., 2002. [ PDF(268KB) ] |
|
8. |
Tomomichi Sugihara and Yoshihiko Nakamura : Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS'02), 2002. [ PDF(512KB) ] |
|
9. |
Qiang Huang, Yoshihiko Nakamura and Tetsunari Inamura : Humanoids Walk with Feedforward Dynamic Pattern and Feedback Sensory Reaction, pp.4220-4225, International Conference on Robotics and Automation, 2001. [ PDF(980KB) ] |
|
10. |
Qiang Huang, Yoshihiko Nakamura, Hirohiko Arai and Kazuo Tanie : Development
of a Biped Humanoid Simulator, F-AII-1, Volume3, International Conference
on Intelligent Robots and Systems, 2000.( [ PDF(605KB) ] |
|
1. |
Lekskulchai Pongsak, Masafumi Okada and Yoshihiko Nakamura : ``Attitude estimation by compensating gravity direction,'' Proceedings of the 21st Annual Conference of Robotics Society of Japan, 2A23, 2003. [ PDF(275KB) ] |
|
2. |
Y. Yamamoto, M. Okada, and Y. Nakamura: ``Development of `Double spherical shoulder joint' for humanoid robots,'' Proceedings of the 21st Annual Conference of Robotics Society of Japan, 2A25, 2003. [ PDF(628KB) ] |
|
3. |
T. Sugihara and Y. Nakamura: ``Development of an Anthropomorphic Device for Fundamental Experiments Towards the Acquisition of High Mobility,'' Proceedings of the 21st Annual Conference of Robotics Society of Japan, 2A24, 2003. [ PDF(659KB) ] |
|
4. |
S. Kanzaki, Y. Nakamura, and M. Okada: ``Walking Control for Humanoid with Backlush Clutch,'' Proceedings of 2003 JSME Conference on Robotics and Mechatronics, 2P1-3F-C2, 2003. [ PDF(596KB) ] |
|
5. |
T. Shinohara, N. Hibara, M. Okada, and Y. Nakamura: ``Mechanisms and Motion Control for Mobility Evolution of Humanoid Robots,'' Proceedings of 2003 JSME Conference on Robotics and Mechatronics, 2P1-3F-C3, 2003. [ PDF(526KB) ] |
|
6. |
T. Sugihara and Y. Nakamura: ``Responsive Legged Motion Control for Humanoid Robot via Variable Impedant Leg Model,'' Proceedings of 2003 JSME Conference on Robotics and Mechatronics, 2003. [ PDF(189KB) ] |
|
7. |
T. Sugihara and Y. Nakamura: ``Computation of Contact Force for Multibody System based on Multipoint Rigid Contact Model,'' Proceedings of the 8th Robotics Symposia, 2003. [ PDF(11.2MB) ] |
|
8. |
Lekskulchai PONGSAK, Masafumi OKADA and Yoshihiko NAKAMURA : Optimal Filtering for Humanoid Robot State Estimators, Proceedings of SI2002, pp.163-164, 2002. [ PDF(224KB) ] |
|
9. |
T. Shinohara, M. Okada, and Y. Nakamura: ``Development of hip joint mechanism for humanoid robot,'' Proceedings of SI2002, pp.161-162, 2002. [ PDF(3.61MB) ] |
|
10. |
T. Shinohara, S. Ban, T. Gotoh, T. Inamura, M. Okada, and Y. Nakamura: ``Development of humanoid robot with `Double Spherical Joint','' Proceedings of the 20th Annual Conference of Robotics Society of Japan, 1C16, 2002. [ PDF(652KB) ] |
|
11. |
M. Okada, T. Gotoh, and Y. Nakamura: ``Design of Knee Joint Mechanism that Follows External Force for Biped Walking Robots,'' Proceedings of the 20th Annual Conference of Robotics Society of Japan, 1C19, 2002. [ PDF(604KB) ] |
|
12. |
T. Sugihara and Y. Nakamura: ``Contact Phase Invariant Controller Design for Humanoid Robot based on Inverted Pendulum Model with Variable Impedance Leg,'' Proceedings of the 20th Annual Conference of Robotics Society of Japan, 1C21, 2002. [ PDF(547KB) ] |
|
13. |
T. Sugihara and Y. Nakamura: ``Whole-Body Cooperative Balancing of Humanoid Robot using COG Jacobian,'' Proceedings of JSME Conference on Robotics and Mechatronics, 2002. [ PDF(114KB) ] |
|
14. |
T. Sugihara and Y. Nakamura: ``Development of Z-REVICHS, Unified System for Real/Virtual Robot Controlling,'' Proceedings of JSME Conference on Robotics and Mechatronics, 2002. [ PDF(112KB) ] |
|
15. |
T. Sugihara and H. Inoue: ``Real-Time Motion Generation of Humanoid with ZMP Actuation based on Inverted Pendulum,'' Proceedings of the 19th Annual Conference of Robotics Society of Japan, 2001. [ PDF(360KB) ] |
|
|
|
