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Humanoids Toward Practical Applications - Robotic Material Handling (Youngbum Jun Thesis)

Papers

[1] N. Alunni, C. Phillops-Gran, H. Bener, D. Lofaro, D. Berenson, S. Chernova, R. Lindeman, and P. Oh, "Toward a user-guided manipulation framework for high-dof robots with limited communication," in Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, Apr 2013, Conference, pp. 1-6.
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[2] H. Arisumi, J. Chardonnet, A. Kheddar, and K. Yokoi, "Dynamic lifting motion of humanoid robots," in Robotics and Automation, 2007. Proceedings. 2007 IEEE International Conference on, Apr 2007, Conference, pp. 2661-2667.
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[3] H. Arisumi, S. Miossec, J. Chardonnet, and K. Yokoi, "Dynamic lifting by whole body motion of humanoid robots," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, Sep 2008, Conference, pp. 668-675.
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[4] H. Arisumi, S. Miossec, J. Chardonnet, and K. Yokoi, "Whole-body motion of a humanoid robot for passing through a door: opening a door by impulsive force," in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, Oct 2009, Conference, pp. 428-434.
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[5] T. Asfour and R. Dillmann, "Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem," in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, vol. 2, Oct 2003, Conference, pp. 1407-1412.
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[6] D. Berenson, J. Chestnutt, S. Srinivasa, J. Kuffner, and S. Kagami, "Pose-constrained whole-body planning using task space region chains," in Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 181-187.
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[7] D. Berenson, S. Srinivasa, D. Ferguson, and J. Kuffner, "Manipulation planning on constraint manifolds," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, May 2009, Conference, pp. 625-632.
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[9] S. Buss, "Introduction to inverse kinematics with jacobian transpose, pseudoinverse and damped least squares methods," IEEE Journal of Robotics and Automation, 2004.
UCSD

[10] Y. Cha, S. Hong, D. Kim, B. You, and S. Oh, "Whole-body humanoid balance control with dynamically loading/unloading objects," in Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, Dec 2009, Conference, pp. 1687-1691.
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[11] Y. Chang, Y. Oh, D. Kim, and S. Hong, "Balance control in whole body coordination framework for biped humanoid robot mahru-r," in Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on, Aug 2008, Conference, pp. 401-406.
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[12] B. Cho, S. Park, and J. Oh, "Controllers for running in the humanoid robot, hubo," in Humanoid Robots 2009, 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 385-390.
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[13] Y. Choi, D. Kim, and B. You, "On the walking control for humanoid robot based on the kinematic resolution of com jacobian with embedded motion," in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, May 2006, Conference, pp. 2655-2660.
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[14] Y. Choi, B. You, and S. Oh, "On the stability of indirect zmp controller for biped robot systems," in Intelligent Robots and Systems, 2004, Proceedings. 2004 IEEE International Conference on, vol. 2, June 2004, Conference, pp. 3-10.
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[15] H. Dallali, M. Brown, and B. Vanderborght, "Using the torso to compensate for non-minimum phase behaviour in zmp bipedal walking," Journal of Advancs in Robotics Research, vol. 2, pp. 191-202, 2009.
Springer

[16] H. Dang, Y. Jun, P. Oh, and P. Allen, "Planning complex physical tasks for disaster response with a humanoid robot," in Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, Apr 2013, Conference, pp. 1-6.
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[18] K. Erbatur and O. Kurt, "Natural zmp trajectories for biped robot reference generation," Industrial Electronics, IEEE Transaction on, vol. 56, no. 3, pp. 835-845, Mar 2009.
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[19] P. Evrard, E. Gribovskaya, S. Calinon, A. Billard, and A. Kheddar, "Teaching physical collaborative tasks: object-lifting case study with a humanoid," in Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 399-404.
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[20] C. Fu and K. Chen, "Gait synthesis and sensory control of stair climbing for a humanoid robot," Industrial Electronics, IEEE Transaction on, vol. 55, pp. 2111-2120, May 2008.
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[21] A. Goswami and V. Kallem, "Rate of change of angular momentum and balance maintenance of biped robots," in Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol. 4, Apr 2004, Conference, pp. 3785-3790.
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[22] Y. Gu, T. Anand, and W. Sheng, "Human-robot collaborative manipulation through imitation and reinforcement learning," in Information and Automation (ICIA), 2011 IEEE International Conference on, Jun 2011, Conference, pp. 151-156.
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[23] Full Paper Citation Here
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[31] J. Hing and P. Oh, "Mixed reality for unmanned aerial vehicle operations in near earth environments," in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, Oct 2010, Conference, pp. 2537-2538.
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[32] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of honda humanoid robot," in Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, vol. 2, May 1998, Conference, pp. 1321-1326.
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[33] G. Homann, H. Huang, S. Waslander, and C. Tomlin, "Quadrotor helicopter flight dynamics and control: Theory and experiment," in AIAA Guidance, Nav- igation and Control Conference and Exhibit, vol. 2, 2007, Conference.
ARC

[34] Full Paper Citation Here
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[35] Q. Huang, S. Kajita, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K. Komoriya, and K. Tanie, "A high stability, smooth walking pattern for a biped robot," in Robotics and Automation, 1999, Proceedings. 1999 IEEE International Confer- ence on, vol. 1, 1999, conference, pp. 65-71.
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[36] Full Paper Citation Here
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[37] Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie, "Planning walking patterns for a biped robot," Robotics and Automation, IEEE Transactions on, vol. 17, no. 3, pp. 280-289, June 2001.
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[38] W. Huang, C. Chew, Y. Zheng, and G. Hong, "Pattern generation for bipedal walking on slopes and stairs," in Humanoid Robots 2008, 8th IEEE-RAS Inter- national Conference on, Dec 2008, Conference, pp. 205-210.
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[39] Full Paper Citation Here
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[42] Full Paper Citation Here
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[43] Y. Jun and P. Oh, "realiztion of miniature humanoid for obstacle avoidance with real-time zmp preview control used for full-sized humanoid," in Humanoid Robots 2010, 10th IEEE-RAS International Conference on, Dec 2010, Conference, pp. 46-51.
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[44] Full Paper Citation Here
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[45] Full Paper Citation Here
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[46] Full Paper Citation Here
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[47] S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and H. Hirukawa, "Biped walking pattern generation using preview control of the zero-moment-point," in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Conference on, vol. 2, Sep 2003, Conference, pp. 1620-1626.
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[48] Full Paper Citation Here
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[49] S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, "The 3d linear inverted pendulum model: A simple modeling for a biped walking pattern generation," in Intelligent Robots and Systems, 2001. IEEE/RSJ International Conference on, vol. 1, Oct 2001, Conference, pp. 239-246.
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[50] Full Paper Citation Here
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[51] K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi, and T. Isozumi, "Humanoid robot hrp-2," in Robotics and Automa- tion, 2004. Proceedings. 2004 IEEE International Conference on, vol. 2, Apr 2004, Conference, pp. 1083-1090.
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[52] Full Paper Citation Here
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[53] T. Katayama, T. Ohki, T. Inoue, and T. Kato, “Design of an optimal controller for a discrete-time system subject to previewable demand,” International Journal of Control, vol. 41, pp. 677–699, Mar 1985.
ResearchGate

[54] Full Paper Citation Here
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[55] Full Paper Citation Here
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[56] Full Paper Citation Here
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[57] J. Kim, "Walking pattern generation of a biped walking robot using convolution sum," in Humanoid Robots 2007, 7th IEEE-RAS International Conference on, Dec 2007, Conference, pp. 539-544.
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[58] J. Kim and J. Oh, "Walking control of the humanoid platform khr-1 based on torque feedback control," in Robotics and Automation, 2004. Proceedings. 2004 IEEE International Conference on, vol. 1, April 2004, Conference, pp. 623-628.
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[59] J. Kim, I. Park, and J. Oh, "Walking control algorithm of biped humanoid robot on uneven and inclined oor," Journal of intelligent and robotic systems, vol. 48, no. 4, pp. 457-484, Apr 2007.
Springer

[60] Wang, H., Li, Y. & Ning, L., "Realization of dynamic stair climbing for biped humanoid robot using force-torque sensors," Journal of Intelligent and Robotic Systems, vol. 56, pp. 389-423, 2009.
Springer

[61] M. Kim, S. Park, and J. Oh, "Realization of stretch-legged walking of the humanoid robot," in Humanoid Robots 2008, 8th IEEE-RAS International Con- ference on, Dec 2008, Conference, pp. 118-124.
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[62] S. Kim and Y. Sankai, "Stair climbing task of humanoid robot by phase composition and phase sequence," in Robots and Human Interactive Communication, IEEE International Workshop on, 2005, Conference, pp. 531-536.
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[63] Y. Kim, B. Lee, J. Yoo, J. Kim, and J. Ryu, "Compensation for the landing impact force of a humanoid robot by time domain passivity approach," in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Con- ference on, May 2006, Conference, pp. 1225-1230.
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[64] Full Paper Citation Here
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[65] Full Paper Citation Here
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[66] O. Kurt and K. Erbatur, "Biped robot reference generation with natural zmp trajectories," in Advanced Motion control, 2006. 9th IEEE International Work- shop on, 2006, Conference, pp. 403-410.
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[67] W. Kwon, H. Kim, J. Park, C. Roh, J. Lee, J. Park, W. Kim, and K. Roh, "Biped humanoid robot mahru-3," in Humanoid Robots, 2007 7th IEEE-RAS International Conference on, Nov 2007, Conference, pp. 583-588.
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[68] Full Paper Citation Here
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[69] Full Paper Citation Here
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[70] T. Li, Y. Su, C. Kuo, C. Chen, C. Hsu, and M. Lu, "Stair-climbing control of humanoid robot using force and accelerometer sensors," in SICE Annual Conference, Sep 2007, Conference.
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[71] Full Paper Citation Here
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[72] K. Loer, M. Gienger, F. Pfeier, and H. Ulbrich, "Sensors and control concept of a biped robot," Industrial Electronics, IEEE Transactions on, vol. 51, no. 5, pp. 972-980, Oct 2004.
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[82] Full Paper Citation Here
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[83] K. Noh, J. Kim, and U. Huh, "Stability experiment of a biped walking robot with inverted pendulum," in Industrial Electronics Society, 2004. IECON 2004. 30th Annual Conference of IEEE, vol. 3, Nov 2004, Conference, pp. 2475-2479.
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[84] Full Paper Citation Here
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[85] Y. Ogura, H. Aikawa, K. Shimomura, A. Morishima, H. Lim, and A. Takanishi, "Development of a new humanoid robot wabian-2," in Robotics and Au- tomation, 2006. Proceedings. 2006 IEEE International Conference on, 2006, Conference, pp. 76-81.
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[86] T. Ono, T. Murakami, and K. Ohnishi, "An apporach to biped robot control according to surface condition of ground," in Advanced Motion Control, 1998. AMC'98-Coimbra, 1998 5th International Workshop on, 1998, conference, pp. 129-134.
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[87] Full Paper Citation Here
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[88] H. Park, M. Ali, and C. Lee, "Convolution-sum-based generation of walking patterns for uneven terrains," in Humanoid Robots 2010, 10th IEEE-RAS In- ternational Conference on, Dec 2010, Conference, pp. 455-460.
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[89] I. Park, J. Kim, and J. Oh, "Online biped walking pattern generation for humanoid robot khr-3(kaist humanoid robot-3: Hubo," in Humanoid Robots 2006, 6th IEEE-RAS International Conference on, Dec 2006, Conference, pp. 398- 403.
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[90] J. Park and Y. Youm, "General zmp preview control for bipedal walking," in Robotics and Automation, 2007 IEEE International Conference on, Apr 2007, Conference, pp. 2682-2687.
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[91] Full Paper Citation Here
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[92] M. Raibert, K. Blankespoor, G. Nelson, and R. Playter, "Bigdog, the roughterrain quadruped robot," in In Proceedings of the 17th World Congress, 2008, Conference.
Science Direct

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