In this paper, the generation of trajectories of both end-effector and joints for human-like
reaching and grasping motions is studied. In reaching movement, the human-like end …

This paper describes our research efforts aimed in the analysis of the humanoid robot feet
role during walking gait. To improve the humanoid robot walking performances, a dynamic …

Selecting an appropriate object transfer point can effectively improve human comfort in the
process of human-robot object transfer. In this article, a human-robot handover system …

For humanoid robotics the cooperation with human beings makes human like behavior
indispensable. The robots of our days have to feature human like form and structure. But …

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid
robotics application. Since the designing and control of humanoid robots are still open …

Designing and control of biped robot are still open questions. Design of ankle joint which is
considered one of the more compact with high power capacity and low weight is a big …

This paper proposes a new criterion for redundancy resolution of human arm in reaching
tasks. First, an assumption of minimum Total Potential Energy (TPE) principle is proposed to …

从弹性系数的影响因素出发, 完善最小势能指标. 基于大量试验, 得到影响扭簧系数的因素为主观
因素和客观因素. 标准化客观因素, 用聚类分析方法对主观因素分类, 利用多元线性回归方法得到 …

Purpose–Planning and control of humanoid biped walking has been an active research
topic for many years. But, there is no definite answer to the question of how to practicre …

This paper deals with a research work aimed to develop a new three degrees of freedom
(DOF) mechanism for humanoid robots. The main idea is to build hybrid (3DOF) mechanism …