Humanoid Robots

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