Reproducing the diverse and agile locomotion skills of animals has been a longstanding
challenge in robotics. While manually-designed controllers have been able to emulate many …

The theory to analyze the relationship between the position and attitude of a link and the
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …

Training a high-dimensional simulated agent with an under-specified reward function often
leads the agent to learn physically infeasible strategies that are ineffective when deployed in …

In this paper, we present a system that enables humanoid robots to imitate complex whole-
body motions of humans in real time. In our approach, we use a compact human model and …

We present a dynamic controller to physically simulate under-actuated three-dimensional
full-body biped locomotion. Our data-driven controller takes motion capture reference data to …

Physically based simulation of human motions is an important issue in the context of
computer animation, robotics and biomechanics. We present a new technique for allowing …

This paper presents humanoid robotics platform that consists of a humanoid robot and an
open architecture software platform developed in METI's Humanoid Robotics Project (HRP) …

In this paper, the imitation of human captured motions by a humanoid robot is considered.
The main objective is to reproduce an imitated motion which should be as close as possible …

This chapter reviews several approaches to the problem of learning by imitation in robotics.
We start by describing several cognitive processes identified in the literature as necessary …

This work presents a methodology to generate dynamically stable whole-body motions for a
humanoid robot, which are converted from human motion capture data. The methodology …