Kanako Miura

Biped walking stabilization based on linear inverted pendulum tracking

A novel framework of biped walking stabilization control is introduced. The target robot is a 42 DOF humanoid robot HRP-4C which has a body dimensions close to the average Japanese female. We develop a body posture controller and foot force controllers on the joint position servo of the robot. By applying this posture/force control, we can regard the robot system as a simple linear inverted pendulum with ZMP delay. After a preliminary experiment to confirm the linear dynamics, we design a tracking controller for walking stabilization. It is evaluated in the experiments of HRP-4C walking and turning on a lab floor. The robot can also perform an outdoor walk on an uneven pavement.

Cybernetic human HRP-4C

The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the design process, mechanical features, and electrical features with specifications of HRP-4C.

Human-like walking with toe supporting for humanoids

A model of a walking pattern imitating human motion is presented. An accurate imitation of human motion and a robust bipedal walking motion are, however, hardly realized together. We therefore focus on only three characteristics of human walking motion: single toe support, knee stretching, and swing leg motion. Based on a conventional pattern generator, single toe support is added, waist height is changed in order to stretch the knees as much as possible, and swing leg motion is generated approximating the humans motion. The generated motion is then filtered to provide a feasible pattern. In addition, the stabilizer is improved in order to keep the Zero Moment Point (ZMP) within the tiny support polygon during the single support phase with toe link. Finally, we successfully demonstrate the generated walking pattern with the robot HRP-4C.

Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots

This paper presents preliminary results on generating walking and turning motion of a humanoid robot based on human motion data obtained by using motion capturing system. The target humanoid robot is recently released HRP-4C, which looks like a Japanese woman with realistic geometry. One of the main uses of this robot is to be entertainment. Therefore it is important that the robots motions are easily created, and feasible for the robot. Captured human motion data are used as a starting point, to which the following modifications are added: step length, speed, rotational angle during turn, and so on. Dynamic balance is also considered. Verification is conducted through both simulation and experiment with HRP-4C. A turning performance based on human motion is successfully demonstrated.

Balance control based on Capture Point error compensation for biped walking on uneven terrain

This paper tries to improve a balance control based on the Capture Point (CP) control. First the characteristics of the conventional balance controller are shown to be essentially the same as the CP controller. Then we analyze the transfer function of the balance controller. We introduce a new state variable with the CP integration to the CP and the ZMP (Zero-Moment Point) in order to trim a long term offset of the CP and the ZMP. Verification of the proposed balance controller is conducted through both simulation and experiments with a humanoid robot HRP-2[11].

Creating facial motions of Cybernetic Human HRP-4C

HRP-4C is our novel biped humanoid robot whose body shape and face appearance are quite similar to those of female humans. It can make not only various whole body motions including biped locomotion but also various facial motions using eleven axes joints inside the head. This paper focuses on the face of HRP-4C, the mechanical structure of it and the software system for creating its facial motions. To make creation process of the facial motions easy and efficient is one of the important technologies for the practical use of the robot. Our system allows controlling the face of actual robot from the graphical user interface running on a client PC with the high responsiveness. This feature enables a creator to efficiently edit detailed facial motions with powerful functions including overdub loop edit, key pose sequence edit with the lip-sync mode, and automatic blinking. By using this system, we were able to rapidly make facial motions for the demonstrations of HRP-4C.

Toward human-like walking pattern generator

In this paper, we generate the biped gait of a humanoid robot that looks like a humans one. To generate the human like motion, we first capture walking motion of a human. Then, we analyze the captured data and obtain several information such as the relationship between the step length and waist height etc. We consider applying these informations to the real humanoid robot. Also, when the human walks, the sway of the waist is smaller than most of the humanoid robots one. By compensating the angular momentum of the robot and by modifying the ZMP trajectory, we show that sway of the robots waist can be smaller. We show the effectiveness of the proposed method through simulation and experimental results.

A friction based “twirl” for biped robots

This paper presents preliminary results on generating turning motion of a humanoid robot by slipping the feet on the ground. We start by presenting the fact that such slip motion is used by humans based on actual human motion capture data, and show how this is necessary for sophisticated human-like motion. To generate the slip motion, we predict the amount of slip using the hypothesis that the turning motion is caused by the effect of minimizing the power generated by floor friction. Verification is conducted through both simulation and experiment with the humanoid robot HRP-2. A ldquotwirlrdquo utilizing both feet slip is successfully demonstrated.

Hardware improvement of Cybernetic Human HRP-4C for entertainment use

Hardware improvement of cybernetic human HRP-4C for entertainment is presented in this paper. We coined the word “Cybernetic Human” to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Its joints and dimensions conform to average values of young Japanese females and HRP-4C looks very human-like. We have made HRP-4C present in several events to search for a possibility of use in the entertainment industry. Based on feedback from our experience, we improved its hardware. The new hand, the new foot with active toe joint, and the new eye with camera are introduced.

Humanoid robot as an evaluator of assistive devices

This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear “Smart Suit Lite” designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.