Humanoid robots are developed to use the infrastructures designed for humans, to ease the interactions with humans, and to help the integrations into human societies. The developments of humanoid robots proceed from building individual robots to establishing societies of robots working alongside with humans. This book addresses the problems of constructing a humanoid body and mind from generating walk patterns and balance maintenance to encoding and specifying humanoid motions and the control of eye and head movements for focusing attention on moving objects....
This chapter describes the development of a humanoid robotic language and the creation of
a virtual reality system for the simulation of humanoid robots. In this chapter we propose a
description language for specifying motions for humanoid robots and for allowing
humanoid robots to acquire motor skills. Locomotion greatly increases our ability to interact
with our environments, which in turn increases our mental abilities. This principle also
applies to humanoid robots.
Besides these, "Imagine the psychological impact upon a foe when encountering squads of
seemingly invincible warriors protected by armor and endowed with superhuman
capabilities, such as the ability to leap over 20-foot walls, " said Ned Thomas, the director of
Institute for Soldier Nanotechnologies (ISN) (Wakefield, 2002). Another use of exoskeletons
is that they could help integrate women into combat situations.
27.1 27.2 Zero-Moment Point — Proper Interpretation
Introduction • The ZMP Notion • The Difference between ZMP and the Center of Pressure (CoP)
Modeling of Biped Dynamics and Gait Synthesis
Single-Support Phase • Double-Support Phase • Biped Dynamics • Example
27.3 Miomir Vukobratovi´ c
Mihajlo Pupin Institute
Control Synthesis for Biped Gait
Synthesis of Control with Limited Accelerations • Synthesis of Global Control with Respect to ZMP Position • Example
Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers.