PPT-Humanoid

systems II Motion notes Peter Sincak amp Maria Vir číkova Citácia 1 Çetin Meriçli Department of Computer Engineering Bo ğ azi ç i University Turecko . 1 No 1 2004 157173 World Scienti64257c Publishing Company ZEROMOMENT POINT THIRTY FIVE YEARS OF ITS LIFE MIOMIR VUKOBRATOVI Institute Mihajlo PupinVolgina 15 11000Belgrade Serbia and Montenegro vukrobotimpbgacyu BRANISLAV BOROVAC University of Novi In this paper a humanoid robot WABIAN2R capable of not only humanlike walking but also the emulation of disabled persons walking is proposed It has two 6DOF legs two 1passiveDOF feet a 2DOF pelvis a 2DOF trunk two 7DOF arms with 3DOF hands and a 3D met humanoid creatures. However this doesn Carnegie Mellon University. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. Tournier Preface .................................................................................................1motion ................................................................................. Preface .................................................................................................1motion ................................................................................. Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. S ROBOTS INCREASINGLYBE-comepart of our everyday lives,they willserve as caretakers for the elderly and dis-abled,assistants in surgery and rehabilita-tion,and educational toys. But for this to hap-pe human-like body plan. ”.. The quotations refer to the latest version of the HL rule book (version of October 2012) available from . http://www.tzi.de/humanoid/bin/view/Website/Downloads. . 1. Relation 4.1.1 was introduced for the first time in 2006 and used since then “as is”. It links the kinematic robot height . Benjamin Stephens. Thesis Proposal. Carnegie Mellon, Robotics Institute. November 23, 2009. Committee:. Chris . Atkeson. (chair). Jessica. . Hodgins. Hartmut. Geyer. Jerry Pratt (IHMC). 2. Thesis Proposal Overview. Philipp . Allgeuer. , Hafez . Farazi. , Michael Schreiber and Sven . Behnke. Autonomous Intelligent Systems. University of Bonn. Existing Standard Platforms. Existing Standard Platforms. Motivation. Why a new platform?. Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. 2. Motivation. 3. Simple models for complex systems.