Book Companion
Humanoid Robots
Edition 1
Welcome to the Companion site for Humaniod Robots, 1st Edition.
Welcome to the Companion site for Humaniod Robots, 1st Edition.
Resources
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Videos
Chapter 2 - Kinematics
Video 2.5-1 opens in new tab/window - S. Miyahara, D.N. Nenchev, Singularity-consistent approach/departure to/from a singular posture, Robotic Life Support Laboratory, Tokyo City University, 2017
Video 2.5-2 opens in new tab/window - S. Miyahara, D.N. Nenchev, Singularity-consistent motion “through” a singular posture, Robotic Life Support Laboratory, Tokyo City University, 2017
Video 2.11-1 opens in new tab/window - R. Yui, R. Hinata, D.N. Nenchev, Upward CoM motion of a humanoid robot resolved in terms of mixed quasi-velocity, Robotic Life Support Laboratory, Tokyo City University, 2017
Chapter 3 - Statics
Video 3.6-1 opens in new tab/window - M. Hosokawa, D. Nenchev, Sliding control with a double-stance posture on V-shaped support, Robotic Life Support Laboratory, Tokyo City University, 2017
Chapter 4 - Dynamics
Video 4.7-1 opens in new tab/window - M. Hara, D. Nenchev, Object tracking with a humanoid robot in zero gravity (synchronous leg motion), Robotic Life Support Laboratory, Tokyo City University, 2017
Video 4.7-2 opens in new tab/window - M. Hara, D. Nenchev, Object tracking with a humanoid robot in zero gravity (asynchronous leg motion), Robotic Life Support Laboratory, Tokyo City University, 2017
Video 4.7-3 opens in new tab/window - M. Hara, D. Nenchev, Object tracking with a humanoid robot in zero gravity (asynchronous leg motion in two phases), Robotic Life Support Laboratory, Tokyo City University, 2017
Video 4.7-4 opens in new tab/window - M. Hara, D. Nenchev, Body roll reorientation via cyclic arm motion in zero gravity, Robotic Life Support Laboratory, Tokyo City University, 2017
Video 4.7-5 opens in new tab/window - K. Nishizawa, D. Nenchev, Body roll reorientation via cyclic foot motion in zero gravity, Robotic Life Support Laboratory, Tokyo City University, 2017
Video 4.7-6 opens in new tab/window - S. Miyahara, D. Nenchev, Walking in zero gravity, Robotic Life Support Laboratory, Tokyo City University, 2017
Chapter 5 - Balance Control
Video 5.8-1 opens in new tab/window - R. Hinata, D. Nenchev, Upper-body twists generated with centroidal angular momentum conservation, Robotic Life Support Laboratory, Tokyo City University, 201
Video 5.8-2 opens in new tab/window - R. Hinata, D. Nenchev, Upper-body twists generated with coupling angular momentum conservation, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.8-3 opens in new tab/window - R. Hinata, D. Nenchev, Upper-body twists generated with the resolved momentum approach, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.8-4 opens in new tab/window - R. Hinata, D. Nenchev, Kicking motion generated with the relative angular momentum (RAM) balance controller, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.8-5 opens in new tab/window - R. Hinata, D.N. Nenchev, Velocity-based contact stabilization of a rolling foot (divergent case), Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.8-6 opens in new tab/window - R. Hinata, D.N. Nenchev, Velocity-based contact stabilization of a rolling foot (convergent case), Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.8-7 opens in new tab/window - T. Nakamura, D.N. Nenchev, Velocity-based posture stabilization on a balance board, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.10-1 opens in new tab/window - M. Hosokawa, D.N. Nenchev, DCM-GI based contact transition control, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.12-1 opens in new tab/window - T. Shibuya, S. Sakaguchi, D. Nenchev, Inclined surface cleaning with motion/force control, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.12-2 opens in new tab/window - T. Hamano, D. Nenchev, Posture stabilization at the BoS boundary, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 5.13-1 opens in new tab/window - T. Shibuya, D. Nenchev, Inclined surface cleaning with motion/force control under external disturbances, Robotic Life Support Laboratory, Tokyo City University, 2018
Chapter 6 - Cooperative Object Manipulation and Control
Video 6.4-1 opens in new tab/window - A. Konno, Cooperative object handling by four humanoid robots, 2016
Video 6.5-1 opens in new tab/window - T. Shibuya, S. Sakaguchi, D. Nenchev, Dynamic object shaking, Robotic Life Support Laboratory, Tokyo City University, 2018
Chapter 7 - Motion Generation and Control
Video 7.3-1 opens in new tab/window - A. Konno, HOAP-2 walking on sand, 2016
Video 7.4-1 opens in new tab/window - S. Miyahara, D.N. Nenchev, VRP-GI based dynamic walk on a flat ground, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.4-2 opens in new tab/window - S. Miyahara, D.N. Nenchev, VRP-GI based dynamic walk on a staircase, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.4-3 opens in new tab/window - S. Miyahara, D.N. Nenchev, VRP-GI based dynamic walk with toe-off, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.5-1 opens in new tab/window - K. Tamoto, R. Yui, R. Hinata, D.N. Nenchev, Motion synergy generation with multiple commands, Robotic Life Support Laboratory, Tokyo City University, 2017
Video 7.5-2 opens in new tab/window - R. Yui, R. Hinata, D.N. Nenchev, Motion synergy generation with single command, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.6-1 opens in new tab/window - S. Ota, S. Onuma, D. Nenchev, Ankle-hip reactive synergies with transitions, Robotic Life Support Laboratory, Tokyo City University, 2011
Video 7.6-2 opens in new tab/window - Y. Yoshida, D.N. Nenchev, Ankle/Lift-leg lateral-plane reactive synergy from simple model, Robotic Life Support Laboratory, Tokyo City University, 2014
Video 7.6-3 opens in new tab/window - S. Onuma, D. Nenchev, Reactive motion in 3D obtained by super-positioning of simple synergies, Robotic Life Support Laboratory, Tokyo City University, 2015
Video 7.7-1 opens in new tab/window - R. Iizuka, D.N. Nenchev, Reflex/recovery motion with hip/twist synergies, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-2 opens in new tab/window - R. Iizuka, D.N. Nenchev, Reflex/recovery motion with ankle/hip/twist synergies, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-3 opens in new tab/window - M. Hosokawa, T. Hamano, D. Nenchev, Lift-leg reactive synergy with DCM-GI based control, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-4 opens in new tab/window - C. Inamura, T. Nakamura, D.N. Nenchev, Compliant whole–body balance control, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-5 opens in new tab/window - R. Hinata, D. Nenchev, Anticipatory reflexive behavior in response to an impulsive force applied while leaning forward, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-6 opens in new tab/window - R. Hinata, D. Nenchev, Nonanticipatory reflexive behavior in response to an impulsive force applied while leaning forward, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-7 opens in new tab/window - R. Iizuka, D.N. Nenchev, Reactive stepping, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.7-8 opens in new tab/window - R. Hinata, D.N. Nenchev, Accommodating a large impulsive force without stepping, Robotic Life Support Laboratory, Tokyo City University, 2018
Video 7.8-1 opens in new tab/window - A. Konno, Karate chop experiments with the HOAP-2 robot, 2015
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