Humanoid robotics is a new challenging field. To cooperate with human beings, humanoid
robots not only have to feature human-like form and structure but, more importantly, they …

This paper focuses on developing a consistent methodology for deriving a closed-form
inverse kinematic joint solution of a general humanoid robot. Most humanoid-robot …

The design of complex dynamic motions for humanoid robots is achievable only through the
use of robot kinematics. In this paper, we study the problems of forward and inverse …

Redundant robots have received increased attention during the last decades, since they
provide solutions to problems investigated for years in the robotic community, eg task-space …

In this paper, three methods to imitate human upper body motion are implemented on a NAO
humanoid robot:(i) direct angle mapping method (ii) inverse kinematics using fuzzy logic and …

The design of complex dynamic motions for humanoid robots is achievable only through the
use of robot kinematics. In this paper, we study the problems of forward and inverse …

Real-time control of the end-effector of a humanoid robot in external coordinates requires
computationally efficient solutions of the inverse kinematics problem. In this context, this …

The most classical solution to generate whole-body motions on humanoid robots is to use
the inverse kinematics on a set of tasks. It enables flexibility, repeatability, sensor-feedback if …

Applying complex motions to humanoids involves to deal with different kinematic, kinetic and
dynamic constraints. Although dynamics is more accurate to simulate humanoids, inverse …

In this paper we address a task-driven motion generation method that allows a humanoid
robot to make whole-body motions including support polygon reshaping to achieve the …