In this paper, we present a four layers hierarchical framework to complete the cable installation task with a humanoid robot. By decoupling task planning layer and motion planning layer, flexibility of the framework is revealed. After symbolic …
In this paper, we present a real-time method for identification of the inertial parameters of a humanoid robot and an estimation of its center-of-mass (CoM) and linear and angular momentum. CoM and momentum are important for whole-body …
In this paper, we propose a novel method for retargeting human movements including the steps taken by a humanoid robot. For applications, such as wearable device evaluation by a humanoid, it is necessary to reproduce the original …
This study proposes a quantitative evaluation method for assessing active wearable assistive devices that can efficiently support the human body. We utilize a humanoid robot to simulate human users wearing assistive devices owing to the robot's …