   This README.txt presents an overall description of the video and 
   the player required to view it.
   
   The video shows out details about the motion which are difficult
   to describe in the paper. Indeed, it shows how natural and robust
   the motion is. Audience can get motivated by this video and realize
   the importance of the reflex system for two legged walking robots.

a) Description: 

   The video shows out how Fujitsufs humanoid robot HOAP-3 that
   weights 9 kg and is 0.6 m tall has successfully generated reflex
   movements, which were integrated with the rhythmic motion when there
   are sudden changes in floor level, when obstacles suddenly appear,
   and in the presence of a large disturbance. The walking pattern
   generator is based on piecewise linear functions and inspired by
   passive walking. The reflex system is combined with the motion 
   pattern generator and proposed in a unified form with regards to
   three types of sudden events mentioned above.

   The first part of the video shows the humanoid robot encounters a
   sudden change in the ground level as it walks. The reflex is enabled
   when the photo interrupter that is attached to the front of leg detects
   a change in the ground level without knowing the difference in the 
   elevation. Then, the gait is extended and an extra motion is generated,
   allowing the supporting leg to contract in length till there will be 
   contact with the lower ground. This part of the video demonstrates how
   robust and adaptive the motion controller is, by enabling the robot to
   walk on different type of surfaces.

   The second part of the video shows how the humanoid steps back very 
   naturally and smartly when it encounters a sudden obstacle as it walks. 
   Knowing that the walking gait cycle is 0.5 s and the robot weights 9kg
   makes this sudden stop a challenging task.

   Finally, the video shows how the robot reacts when it is pushed from the
   back or the front-right, and how it resists the persisting disturbance. 
   For this type of reflex, the idea consists of dividing the supporting 
   plate of the robot into 4 zones, then defining one posture of each zone.
   When a large disturbance is detected by a gyro sensor, the walking motion
   is stopped and according to the ZMP, the robot will shift its pose to one
   of the predefined postures or consider a linear interpolation as this video
   shows when the robot is pushed from front-right.

b) Player information:

   The video is a 4.7Mb mpeg file that can run on Windows Media Player 9 series 
   or more. 

c) Contact Information:
 
   If there is any question regarding this video, please drop me email 
   at:   zaier@labs.fujitsu.com



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