Academic literature on the topic 'Humanoid Robots'
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Journal articles on the topic "Humanoid Robots"
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Mogos, E. "The fuzzy-based systems in the communication between a human and a humanoid robot." Journal of Physics: Conference Series 2251, no. 1 (April 1, 2022): 012003. http://dx.doi.org/10.1088/1742-6596/2251/1/012003.
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Abstract The communication between a human and a humanoid robot is a real challenge for the researchers in the field of the robotics. Despite of the progress in the acoustic modelling and in the natural languages the humanoid robots are overtaken by the humans when the humanoid robots are engaged in the real life because the speech and the human emotions are extremely ambiguous due to the noises and the external audio events from the robot’s environment. The humans assign a correct interpretation to the perceived ambiguous signal, but the humanoids robots cannot interpret the ambiguous signal. The most common software used in the interpretation of the ambiguous signal is a fuzzy based software. The artificial neuro-fuzzy inference system, shortly known as ANFIS is the emotion recognition system based on the fuzzy sets which acts as the thalamus of the human brain and it is responsible for the sensorial perception of the humanoid robot. Our goal in this work is to create the fuzzy-based sound signals software and the fuzzy-based genetic algorithm with high performance in the communication between the human and the humanoid robots which help the humanoid robots to think, to understand the human speech and the human emotions and all the ambiguous signals from the robot’s environment in a way that it is distinguishable for every humanoid robot as the human.
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Hirose, Masato, Toru Takenaka, Hiroshi Gomi, and Nobuaki Ozawa. "Humanoid Robots. HUMANOID ROBOT." Journal of the Robotics Society of Japan 15, no. 7 (1997): 983–85. http://dx.doi.org/10.7210/jrsj.15.983.
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MATSUMURA, REO, and HIROSHI ISHIGURO. "DEVELOPMENT OF A HIGH-PERFORMANCE HUMANOID SOCCER ROBOT." International Journal of Humanoid Robotics 05, no. 03 (September 2008): 353–73. http://dx.doi.org/10.1142/s0219843608001467.
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The RoboCup, which is a worldwide robot soccer competition, has set an ambitious goal for itself: to have a humanoid robot team win against human teams in World Cup Soccer by 2050. In order to achieve this goal, the robots require highly sophisticated sensory-data processing and decision-making functions. The development of robots for the RoboCup Humanoid League also has significant meaning for the development of robotics. However, this development is not easy and there are few papers covering it and its design policy. This paper reports the design policy for humanoids developed by Team Osaka, whose robots have been selected as the best humanoid robots four times in the last four years. In addition to the design policy, this paper also reports on the developmental process and comparisons among humanoid versions developed by Team Osaka. We believe that this paper will offer much information to other researchers who are developing humanoids for the RoboCup.
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Munir, Safa, Kashaf Khan, Dr Naeem Aslam, Kamran Abid, and Mustajib-ur Rehman. "Humanoid Robots: Cybersecurity Concerns And Firewall Implementation." VFAST Transactions on Software Engineering 11, no. 1 (March 31, 2023): 85–100. http://dx.doi.org/10.21015/vtcs.v11i1.1454.
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Technology has grown more important in our lives, and scientists are developing new products to make people’s life easier and more pleasant. One of these innovations is the humanoid robot. The use of humanoid robots in our daily lives is expanding at an unprecedented rate as robots are being used in different aspects of life. The market is becoming more automated and optimized, Robotics serves as one of the primary instruments used for these reasons. Yet, security continues to pose a concern for robotics. As humanoid robots begin to function "in the open," we must assess the threats they will confront. Through the literature review, researchers found that security assessments were not performed on the robots which cause the robots to be weak against cybersecurity attacks. In this research, we perform different security assessments to identify the vulnerabilities in humanoid robots. Furthermore, different metrics were used to check and perform security assessments on the robot as well as the results of security assessments has been shown. It was shown that humanoid robots are vulnerable as anyone will be able to hack the login credentials of robot’s website as well as there are some open ports in the robot’s network which can be used by the hackers to exploit robot’s working. Based on the results of assessment methods and our findings, we gave the firewall framework which will be helpful to protect the humanoid robot against those security vulnerabilities and attacks.This firewall framework will be able to protect the humanoid robots in aspects of both network and website/webpage exploitation.
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Huang, Lixiao, Daniel McDonald, and Douglas Gillan. "Exploration of Human Reactions to a Humanoid Robot in Public STEM Education." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 61, no. 1 (September 2017): 1262–66. http://dx.doi.org/10.1177/1541931213601796.
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The service and entertainment industry advocates the possibility of using humanoid robots; however, direct interaction experience is uncommon. To understand humans’ interactions with humanoid robots, the present study used a robot capable of face recognition and conversation in a park and a school setting to explore the behavioral patterns of humans, dialog themes, and emotional responses. Results showed that humans’ behavioral patterns included looking at the robot, talking to the robot, talking to others about the robot, and adults taking photos. School children showed strong interest to interact with the robot and rich emotional responses. Major dialog themes included greeting, asking about the robot’s identity, testing the robot’s knowledge and capabilities, asking and replying about preferences and opinions, and correcting the robot’s errors. Observed emotional responses included liking, surprise, excitement, fright, frustration, and awkwardness. Humans interacted with the robot similarly to how they would interact with other humans but also differently. The educational value and design implication for humanoid robots are discussed.
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Nugraha, A. C., M. L. Hakim, S. Yatmono, and M. Khairudin. "Development of Ball Detection System with YOLOv3 in a Humanoid Soccer Robot." Journal of Physics: Conference Series 2111, no. 1 (November 1, 2021): 012055. http://dx.doi.org/10.1088/1742-6596/2111/1/012055.
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Abstract One of the practical researches of humanoid robots is research on the use of humanoid robots to play soccer. Research in this field is also encouraged by the existence of various humanoid robot soccer competitions. In humanoid robots for soccer, one of the important aspects is the robot’s ability to detect the ball, goal, field boundaries and other players, both friend players and opposing players. This study focuses on the ball detection system which is a basic ability that humanoid robots need to have. The ball detection system developed in this study uses the YOLOv3 method. The test results show that the system built and trained with 3000 image samples can detect balls at a distance of 50 to 900 cm. The time it takes to detect the ball is about 0.033 seconds.
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Pawar, Shweta Madhukar. "Humanoid Robotics." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 30, 2021): 4128–30. http://dx.doi.org/10.22214/ijraset.2021.35918.
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An automaton may be a automaton with its body form designed to give the body. the look could also be for purposeful functions, like interacting with human tools and environments, for experimental functions, like the study of two-footed locomotion, or for alternative functions. In general, automaton robots have a body, a head, two arms, and 2 legs, though' some sorts of automaton robots could model solely a part of the body, for instance, from the waist up. Some automaton robots even have heads designed to duplicate human face expression like eyes and mouths. Androids area unit automaton robots designed to aesthetically gibe humans. Humanoid robots square measure expected to exist and add a detailed relationship with people at large |individuals| personalities} within the everyday world and to serve the wants of physically unfit people. These robots should be ready to address the wide range of tasks and objects encountered in dynamic unstructured environments. robot robots for private use for old and disabled folks should be safe and simple to use. Therefore, robot robots would like a light-weight body, high flexibility, several forms of sensors and high intelligence. The victorious introduction of those robots into human environments can have confidence the event of human friendly part
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Pon Bharathi, A., M. Ramachandran, Ramu Kurinjimalar, and Sriram Soniya. "An Investigation on Humanoid Robots with Biped Locomotion and Walking." Design, Modelling and Fabrication of Advanced Robots 1, no. 1 (April 1, 2022): 55–61. http://dx.doi.org/10.46632/dmfar/1/1/9.
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Human figures move, speak, and perform actions through certain features, such as sensors and actuators. Android is a humanoid robot that looks like a human, while Ginoids look like female humans. Human figures function through certain features. Arts, the UK-based designer and creator of anthropological robots, recently posted a video on YouTube showing one of the most vivid works with sensors that can sense their environment. Amega, a robot, has been shown to create incredible human-like facial expressions, and in fantasy systems, the human figure is used to represent amazing creatures such as a dwarf, cub, cub. gnome, Halfling, goblin, Troll, orc or an ogre, and Bigfoot Actuators are the motors responsible for the robot's movement. Humanoid robots are designed to mimic the human body. Although with different structures, they use accelerators that act like muscles and joints. The actuators of humanoid robots can be electric, pneumatic or hydraulic. Well, almost. Recently, the UK-based robotics company Engineering Arts showcased its Artificial Intelligence (AI) anthropology robot Amega, which is almost bizarre. Anthropology robots, on the other hand, did not reach the target. Following humans in form and ambiguous function. They have very specific roles - More than just being a "do it all" assistant. Our own TUG mobile robots and the robot's Ramba are prime examples of humanoid robots, with many features such as flexible flexibility, law enforcement and motion redundancy. The humanoid robot assists working people by ensuring their care and complete safety. Such robots also work in factories and can perform repetitive tasks without any mistakes. Honda Motor Corporation's Asimov is known as the most sophisticated robot in the world due to its human appearance and ability to walk and climb stairs. Amega is a humanoid robot from the British company Engineering Arts. The company claims to be introducing 20 years of innovation in motion and natural gestures, with the ability to use sophisticated AI.
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Jung, Sungwook, Sung Hee Ahn, Jiwoong Ha, and Sangwoo Bahn. "A Study on the Effectiveness of IT Application Education for Older Adults by Interaction Method of Humanoid Robots." International Journal of Environmental Research and Public Health 19, no. 17 (September 2, 2022): 10988. http://dx.doi.org/10.3390/ijerph191710988.
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Education using humanoid robots can have a positive impact in many fields, including in medical or physical training. This study investigated the effects of robot interactions with respect to facial expressions, gestures, voices and their combinations on the education of the elderly regarding information and communications technology (ICT) from functional and emotional perspectives. In this study, the robot’s interaction methods were divided into four categories: (1) voice, (2) voice and expression, (3) voice and gesture, and (4) voice and expression and gesture. An experiment involving an educational application with a humanoid robot was conducted with a total of 15 elderly people over the age of 60. The effect of the humanoid robot’s interaction method on education was identified by means of subjective survey evaluation and practice performance data analysis, including error rate, task success rate, and number of retrainings. Through the experiment, functional and emotional aspects of effects were measured. The results showed that performance and perceived effectiveness were not significantly affected by the type of robot interaction, but the degree to which the robot felt like it had emotions, the degree to which the robot felt like a human, and the degree to which the robot was friendly were significantly different according to the interaction type employed by the humanoid robot. The best effect was achieved when voice and gesture were used together during tutoring. Recognizing that ICT education using humanoid robots increases interest and participation in education, such robots are concluded to be a suitable method for performing ICT education. In addition, when designing robotic interactions, the use of the robot’s voice and gestures together is expected to lead to greater anthropomorphism, resulting in a stronger relationship with humanoid robots.
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Minh Trieu, Nguyen, and Nguyen Truong Thinh. "A Comprehensive Review: Interaction of Appearance and Behavior, Artificial Skin, and Humanoid Robot." Journal of Robotics 2023 (May 19, 2023): 1–16. http://dx.doi.org/10.1155/2023/5589845.
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The development of robotics is undeniable in recent years. Many developing contries face the growth of the elderly population, it is the premise and impetus for the development of research on humanoid robots to serve humans. Many studies on various aspects of robotics are carried out in different parts of the world. Many novel methods were introduced for the design of the robot’s external appearance, internal mechanisms, and gestures. Recent research on humanoid robots is designed to appear to be copies of the anthropometric indicators of real people, which may affect the security of other people’s identities. Besides, these robots cause a feeling of horror in the user if their appearance is in the position of the uncanny valley. Therefore, these designs need to be carefully considered before fabrication. Artificial skin is studied for various purposes such as ensuring collision safety for industrial users and helping robots to perceive basic tactile sensations. This review consists of the recent literature on the interaction of appearance and behavior of robot interaction, artificial skin, and especially humanoid robots, including appearance, such as android and Geminoid robots. This work can provide a reference for humanoid robot research, including uncanny valley hypotheses, artificial skin, and humanoid robots.
Dissertations / Theses on the topic "Humanoid Robots"
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Che, Da. "Toward Humanoid Choreography and Dance." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1337187519.
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Nakhaei, Alireza. "Motion planning and perception : integration on humanoid robots." Thesis, Toulouse, INPT, 2009. http://www.theses.fr/2009INPT043H/document.
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Le chapitre 1 est pour l'essentiel une brève introduction générale qui donne le contexte générale de la planification et présente l'organisation du document dans son ensemble et quelques uns des points clés retenus : robot humanoïde, environnement non statique, perception par vision artificielle, et représentation de cet environnement par grilles d'occupation. Dans le chapitre 2, après une revue de littérature bien menée, l'auteur propose de considérer les points de repère de l'environnement dès la phase de planification de chemin afin de rendre plus robuste l'exécution des déplacements en cas d'évolution de l'environnement entre le moment où la planification est menée et celui où le robot se déplace ( évolution étant entendu comme liée à une amélioration de la connaissance par mise à jour, ou due à un changement de l'environnement lui-même). Le concept est décrit et une formalisation proposée. Le chapitre 3 s'intéresse en détail à la planification dans le cas d'environnements dynamiques. Les méthodes existantes, nombreuses, sont tout d'abord analysées et bien présentées. Le choix est fait ici de décrire l'environnement comme étant décomposé en cellules, regroupant elles-mêmes des voxels, éléments atomiques de la représentation. L'environnement étant changeant, l'auteur propose de réévaluer le plan préétabli à partir d'une bonne détection de la zone qui a pu se trouver modifiée dans l'environnement. L'approche est validée expérimentalement en utilisant une des plateformes robotiques du LAAS qui dispose de bonnes capacités de localisation : le manipulateur mobile Jido étant à ce jour plus performant sur ce plan que l'humanoïde HRP2, c'est lui qui a été utilisé. Ces expérimentations donnent des indications concordantes sur l'efficacité de l'approche retenue. Notons également que la planification s'appuie sur une boite englobante de l'humanoïde, et non pas sur une représentation plus riche (multi-degré-deliberté). En revanche, c'est bien de planification pour l'humanoïde considéré dans toute sa complexité qu'il s'agit au chapitre 4 : on s'intéresse ici à tous les degrés de liberté du robot. L'auteur propose des évolutions de méthodes existantes et en particulier sur la manière de tirer profit de la redondance cinématique. L'approche est bien décrite et permet d'inclure une phase d'optimisation de la posture globale du robot. Des exemples illustrent le propos et sont l'occasion de comparaison avec d'autres méthodes. Le chapitre 5 s'intéresse à la manière de modéliser l'environnement, sachant qu'on s'intéresse ici au cas d'une perception par vision artificielle, et précisément au cas de l'humanoïde, robot d'assurer lui-même cette perception au fur et à mesure de son avancée dans l'environnement. On est donc dans le cadre de la recherche de la meilleure vue suivante qui doit permettre d'enrichir au mieux la connaissance qu'a le robot de son environnement. L'approche retenue fait à nouveau appel à la boite englobante de l'humanoïde et non à sa représentation complète ; il sera intéressant de voir dans le futur ce que pourrait apporter la prise en compte des degrés de liberté de la tête ou du torse à la résolution de ce problème. Le chapitre 6 décrit la phase d'intégration de tous ces travaux sur la plateforme HRP2 du LAAS-CNRS, partie importante de tout travail de roboticienThis thesis starts by proposing a new framework for motion planning using stochastic maps, such as occupancy-grid maps. In autonomous robotics applications, the robot's map of the environment is typically constructed online, using techniques from SLAM. These methods can construct a dense map of the environment, or a sparse map that contains a set of identifiable landmarks. In this situation, path planning would be performed using the dense map, and the path would be executed in a sensor-based fashion, using feedback control to track the reference path based on sensor information regarding landmark position. Maximum-likelihood estimation techniques are used to model the sensing process as well as to estimate the most likely nominal path that will be followed by the robot during execution of the plan. The proposed approach is potentially a practical way to plan under the specific sorts of uncertainty confronted by a humanoid robot. The next chapter, presents methods for constructing free paths in dynamic environments. The chapter begins with a comprehensive review of past methods, ranging from modifying sampling-based methods for the dynamic obstacle problem, to methods that were specifically designed for this problem. The thesis proposes to adapt a method reported originally by Leven et al.. so that it can be used to plan paths for humanoid robots in dynamic environments. The basic idea of this method is to construct a mapping from voxels in a discretized representation of the workspace to vertices and arcs in a configuration space network built using sampling-based planning methods. When an obstacle intersects a voxel in the workspace, the corresponding nodes and arcs in the configuration space roadmap are marked as invalid. The part of the network that remains comprises the set of valid candidate paths. The specific approach described here extends previous work by imposing a two-level hierarchical structure on the representation of the workspace. The methods described in Chapters 2 and 3 essentially deal with low-dimensional problems (e.g., moving a bounding box). The reduction in dimensionality is essential, since the path planning problem confronted in these chapters is complicated by uncertainty and dynamic obstacles, respectively. Chapter 4 addresses the problem of planning the full motion of a humanoid robot (whole-body task planning). The approach presented here is essentially a four-step approach. First, multiple viable goal configurations are generated using a local task solver, and these are used in a classical path planning approach with one initial condition and multiple goals. This classical problem is solved using an RRT-based method. Once a path is found, optimization methods are applied to the goal posture. Finally, classic path optimization algorithms are applied to the solution path and posture optimization. The fifth chapter describes algorithms for building a representation of the environment using stereo vision as the sensing modality. Such algorithms are necessary components of the autonomous system proposed in the first chapter of the thesis. A simple occupancy-grid based method is proposed, in which each voxel in the grid is assigned a number indicating the probability that it is occupied. The representation is updated during execution based on values received from the sensing system. The sensor model used is a simple Gaussian observation model in which measured distance is assumed to be true distance plus additive Gaussian noise. Sequential Bayes updating is then used to incrementally update occupancy values as new measurements are received. Finally, chapter 6 provides some details about the overall system architecture, and in particular, about those components of the architecture that have been taken from existing software (and therefore, do not themselves represent contributions of the thesis). Several software systems are described, including GIK, WorldModelGrid3D, HppDynamicObstacle, and GenoM
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Sobrinho, Carlos Eduardo dos Reis Rodrigues. "Sensor fusion in humanoid robots." Master's thesis, Universidade de Aveiro, 2012. http://hdl.handle.net/10773/11052.
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Mestrado em Engenharia Electrónica e TelecomunicaçõesA fus~ao sensorial combina pe cas de informa c~ao proveniente de diferentes fontes/sensores de modo a obter informa c~ao global mais precisa quando comparada com sistemas que apenas dependem de fontes/sensores. Diferentes m etodos de fus~ao sensorial t^em sido desenvolvidos de forma a optimizar a resposta geral dos sistemas. Resultados nais, como a unidade inercial que funde duas fam lias diferentes de sensores para dar uma estimativa mais precisa/melhor dos dados sensoriais ou a auto-localiza c~ao do robot que deve ser capaz de avaliar a sua pr opria posi c~ao e consequentemente a posi c~ao dos membros da sua equipa s~ao exemplos da fus~ao sensorial. Esta tese ir a descrever detalhadamente, desde a fase de algoritmo at e a implementa c~ao juntamente com algumas bases matem aticas necess arias para a compreens~ao dos conceitos introduzidos, todo o trabalho desenvolvido para a equipa portuguesa que serviu para tornar o objectivo proposto em realidade: participar pela primeira vez na categoria Standard Platform League no RoboCup 2012.
The technology of sensor fusion combines pieces of information coming from di erent sources/sensors, resulting in an enhanced overall information accuracy when compared with systems that rely only on sources/sensors. Di erent sensor fusion methods have been developed in order to optimize the overall system output. End results like the inertial unit that fuses two di erent sensor families to give a more accurate/better estimate of the sensory data or the self-localization of the robot that should be able to evaluate its position and consequently its team members position. A walk-through, from the algorithm phase to the implementation, will be given in this thesis along with some mathematical background necessary to comprehend the concepts introduced and description of the auxiliary tools that were built for the Portuguese Team to help accomplish the objective: First presence in the Standard Platform League in the RoboCup 2012.
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Mendonça, José Lucas Lemos. "Behaviours for simulated humanoid robots." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14699.
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Mestrado em Engenharia de Computadores e TelemáticaThis thesis in inserted in the FC Portugal 3D team, which competes in the humanoid simulation league 3D from RoboCup. The objectives of this thesis are to improve the behaviours already created and to develop tools to support the development and debugging of the robotic agent. With this in mind, the process of optimization was improved to make it more efficient and adapted to include the new heterogeneous models. Executing the optimization process, using the state of the art algorithm CMA-ES, the time of the getup was reduced by half. Afterwards, the agent was put running in sync mode, which allows the simulations to run as fast as the computer in use can process, and not the simulation speed of the competion with cycles of 20ms. In the agent posture, it is now used the information from the gyroscope and the euler angles are calculated to get a better estimative of the robot orientation. On the other hand, the agent architecture was updated and new behaviours were created and optimized to support the new heterogeneous models. In relation to the standard model, some behaviours execute faster because of their physical difference. In the slot behaviours, it is now possible to defined preconditions in each step, so the agent can abort the behaviour when any condition does not comply. This change reduces the time wasted executing all the behaviour in situations in which the success is improbable. In terms of tools, a Agent Monitor Window was created for each agent which can: present in runtime variables from the agent code; interact with the code trough widgets; and if the simulation is in sync mode, defined the simulation cycle time, with the possibility to pause it and execute step by step, which gives a great advantage in terms of analysing the agent execution. The second tool was a behaviour testes for behaviours defined in XML, which allows, in runtime, to change the behaviour to test, edit its content, aggregate different files in sequence and finally the tolls can execute various agents in parallel. The last tools is Log Analyser of the logs generated by the agents and the server, which allows: exporting in different formats, see in form of plots the variables parsed, filtrate the simulation information; and create a server simulation which can be used to analyse, in parallel, the plots of chosen variables and the simulation in a monitor.
Esta tese está inserida na equipa FC Portugal 3D, que compete na liga de futebol robótico simulado 3D. Os objetivos da tese são melhorar os comportamentos já existentes e desenvolver ferramentas de suporte ao desenvolvimento e depuração para o agente robótico. Nesse sentido, foi melhorado o processo de optimização de comportamentos de forma a torná-lo mais eficiente e adaptado para incluir os novos modelos heterogéneos disponibilizados. Ao executar o processo de optimização, usando o algoritmo de estado de arte CMA-ES, foi obtido reduções para metade do tempo nos comportamentos de levantar-se. Seguidamente o agente foi colocado a correr em modo síncrono, o que permite que as simulações corram à velocidade de processamento do computador em uso, e não à velocidade da simulação da competição em que cada ciclo demora 20ms. Assim é possível executar simulações e consequentemente inferir conclusões muito mais rapidamente. Passou-se a usar a informação de giroscópio e o cálculo dos ângulos de euler para obter uma melhor estimativa da rotação do robô. Por outro lado, devido ao lançamento de novos tipos de robôs, a arquitectura do agente teve de ser atualizada e novos comportamentos foram criados e optimizados para estes novos modelos. Em relação ao modelo original, alguns comportamentos são executados mais rapidamente e melhor pelos modelos novos, devido às suas alterações físicas. Por fim, nos comportamentos foi dada a possibilidade de definir pré condições em etapa do mesmo, para que possa ser abortado caso as condições não se verifiquem. Esta alteração veio reduzir o tempo desperdiçado a executar a totalidade do comportamento em situações em que não é provável o seu sucesso . Em termos de ferramentas, foi colocada uma Janela de Monitor de Agente para cada agente que, apresenta em tempo de simulação variáveis que o código do agente disponibiliza, interage com código através de widgets de seleção ou preenchimento, e se a simulação estiver a correr em modo síncrono, permite definir o tempo de ciclo da simulação, pausá-la e executar ciclo a ciclo, o que permite vantagens óbvias em termos de análise de execução dos agentes. Seguidamente, foi criada uma ferramenta de teste para comportamentos definidos em XML, que permite, em tempo de execução, alterar o ficheiro a testar, alterar o seu conteúdo, agrupar vários ficheiros em sequências e executar vários agentes em paralelo. Por fim, a última ferramenta é um Analizador de Logs gerados pelos agentes e pelo simulador que permite, entre outras funcionalidades, ver em forma de gráficos variáveis da simulação, exportar para diferentes formatos, filtrar a simulação usando informação da mesma e correr um servidor de forma a ser possível analizar em paralelo, gráficos de variáveis escolhidas e a simulação num visualizador.
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Tay, Junyun. "Autonomous Animation of Humanoid Robots." Research Showcase @ CMU, 2016. http://repository.cmu.edu/dissertations/838.
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Gestures and other body movements of humanoid robots can be used to convey meanings which are extracted from an input signal, such as speech or music. For example, the humanoid robot waves its arm to say goodbye or nods its head to dance to the beats of the music. This thesis investigates how to autonomously animate a real humanoid robot given an input signal. This thesis addresses five core challenges, namely: Representation of motions, Mappings between meanings and motions, Selection of relevant motions, Synchronization of motion sequences to the input signal, and Stability of the motion sequences (R-M-S3). We define parameterized motions that allow a large variation of whole body motions to be generated from a small core motion library and synchronization of the motions to different input signals. To assign meanings to motions, we represent meanings using labels and map motions to labels autonomously using motion features. We also examine different metrics to determine similar motions so that a new motion is mapped to existing labels of the most similar motion. We explain how we select relevant motions using labels, synchronize the motion sequence to the input signal, and consider the audience’s preferences. We contribute an algorithm that determines the stability of a motion sequence. We also define the term relative stability, where the stability of one motion sequence is compared to other motion sequences. We contribute an algorithm to determine the most stable motion sequence so that the humanoid robot animates continuously without interruptions. We demonstrate our work with two input signals – music and speech, where a humanoid robot autonomously dances to any piece of music using the beats and emotions of the music and also autonomously gestures according to its speech. We describe how we use our solutions to R-M-S3, and present a complete algorithm that captures the meanings of the input signal and weighs the selection of the best sequence using two criteria: audience feedback and stability. Our approach and algorithms are general to autonomously animate humanoid robots, and we use a real NAO humanoid robot and in simulation as an example.
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Seepanomwan, Kristsana. "Mental imagery in humanoid robots." Thesis, University of Plymouth, 2016. http://hdl.handle.net/10026.1/4581.
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Mental imagery presents humans with the opportunity to predict prospective happenings based on own intended actions, to reminisce occurrences from the past and reproduce the perceptual experience. This cognitive capability is mandatory for human survival in this folding and changing world. By means of internal representation, mental imagery offers other cognitive functions (e.g., decision making, planning) the possibility to assess information on objects or events that are not being perceived. Furthermore, there is evidence to suggest that humans are able to employ this ability in the early stages of infancy. Although materialisation of humanoid robot employment in the future appears to be promising, comprehensive research on mental imagery in these robots is lacking. Working within a human environment required more than a set of pre-programmed actions. This thesis aims to investigate the use of mental imagery in humanoid robots, which could be used to serve the demands of their cognitive skills as in humans. Based on empirical data and neuro-imaging studies on mental imagery, the thesis proposes a novel neurorobotic framework which proposes to facilitate humanoid robots to exploit mental imagery. Through conduction of a series of experiments on mental rotation and tool use, the results from this study confirm this potential. Chapters 5 and 6 detail experiments on mental rotation that investigate a bio-constrained neural network framework accounting for mental rotation processes. They are based on neural mechanisms involving not only visual imagery, but also affordance encoding, motor simulation, and the anticipation of the visual consequences of actions. The proposed model is in agreement with the theoretical and empirical research on mental rotation. The models were validated with both a simulated and physical humanoid robot (iCub), engaged in solving a typical mental rotation task. The results show that the model is able to solve a typical mental rotation task and in agreement with data from psychology experiments, they also show response times linearly dependent on the angular disparity between the objects. Furthermore, the experiments in chapter 6 propose a novel neurorobotic model that has a macro-architecture constrained by knowledge on brain, which encompasses a rather general mental rotation mechanism and incorporates a biologically plausible decision making mechanism. The new model is tested within the humanoid robot iCub in tasks requiring to mentally rotate 2D geometrical images appearing on a computer screen. The results show that the robot has an enhanced capacity to generalize mental rotation of new objects and shows the possible effects of overt movements of the wrist on mental rotation. These results indicate that the model represents a further step in the identification of the embodied neural mechanisms that might underlie mental rotation in humans and might also give hints to enhance robots' planning capabilities. In Chapter 7, the primary purpose for conducting the experiment on tool use development through computational modelling refers to the demonstration that developmental characteristics of tool use identified in human infants can be attributed to intrinsic motivations. Through the processes of sensorimotor learning and rewarding mechanisms, intrinsic motivations play a key role as a driving force that drives infants to exhibit exploratory behaviours, i.e., play. Sensorimotor learning permits an emergence of other cognitive functions, i.e., affordances, mental imagery and problem-solving. Two hypotheses on tool use development are also conducted thoroughly. Secondly, the experiment tests two candidate mechanisms that might underlie an ability to use a tool in infants: overt movements and mental imagery. By means of reinforcement learning and sensorimotor learning, knowledge of how to use a tool might emerge through random movements or trial-and-error which might reveal a solution (sequence of actions) of solving a given tool use task accidentally. On the other hand, mental imagery was used to replace the outcome of overt movements in the processes of self-determined rewards. Instead of determining a reward from physical interactions, mental imagery allows the robots to evaluate a consequence of actions, in mind, before performing movements to solve a given tool use task. Therefore, collectively, the case of mental imagery in humanoid robots was systematically addressed by means of a number of neurorobotic models and, furthermore, two categories of spatial problem solving tasks: mental rotation and tool use. Mental rotation evidently involves the employment of mental imagery and this thesis confirms the potential for its exploitation by humanoid robots. Additionally, the studies on tool use demonstrate that the key components assumed and included in the experiments on mental rotation, namely affordances and mental imagery, can be acquired by robots through the processes of sensorimotor learning.
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Pretto, Alberto. "Visual-SLAM for Humanoid Robots." Doctoral thesis, Università degli studi di Padova, 2009. http://hdl.handle.net/11577/3426516.
Full textAbstract:
In robotics the Simultaneous Localization and Mapping (SLAM) is the problem in which an autonomous robots acquires a map of the surrounding environment
while at the same time localizes itself inside this map. In the last years a lot of researchers have spent a great effort in developing new families of algorithms, using several sensors and robotic platforms.
One of the most challenging field of research in SLAM is the so called Visual-SLAM problem, in which various types of cameras are used as sensor for the navigation. Cameras are inexpensive sensors and can provide rich information about the surrounding environment, on the other hand the complexity of the computer vision tasks and the strong dependence on the characteristics of the environment in current approaches makes the Visual-SLAM far to be considered
a closed problem.
Most of the SLAM algorithm are usually tested on wheeled robot. These platforms have become robust and stable, on the other hand the research in robot design moves toward a new family of robot platforms, the humanoid robots. Just like humans, a humanoid robot can adapt itself to changes in the environment in order to efficiently reach its goals.
Despite that, only a few roboticists focused theirs research on stable implementation of SLAM and Visual SLAM algorithms well suited for humanoid robots.
Humanoid platforms raise issues which can compromise the stability of the conventional navigation algorithms, especially for vision-based approaches. A humanoid robot can move in 3D without the usual planar motion assumption that constraint the movement in 2D, usually with quick and complex movements combined with unpredictable vibrations, compromising the reliability of the acquired sensors data, for example introducing in the images grabbed by the camera an undesired motion blur effect. Due to the strong balance constraints, a humanoid robot usually can’t be equipped with powerfull but hefty computer boards: this
limits the implementation of complex and computational expensive algorithms.
Moreover, unlike wheeled robots, its complex kinematics usually forbids a reliable reconstruction of the motion from the servo-motor encoders.
In this thesis, we focus on studying and developing new techniques addressing the Visual-SLAM problem, with particular attention to the issues related to using as experimental platform small humanoid robots equipped with a single perspective camera.
The main efforts in SLAM and Visual SLAM research areas have been put into the estimation functionality. However, most of the functionalities involved in Visual SLAM are in perception processes. In this thesis we therefore focus on the improvement of the perceptual processes, from a computer vision point-of-view.
We faced small humanoid robot related issues like low-computational capability, the low quality of the sensor data and the high degrees of freedom of the motion. We cope with the low computational resources presenting a new similarity measure for images based on a compact signature to be used in image-based topological SLAM problem. The motion blur problem is faced proposing a new
feature detection and tracking scheme that is robust even to non-uniform motion blur. We develop a framework for visual odometry based on features robust to motion blur.
We finally propose an homography-based approach to 3D visual SLAM, using the information provided by a single camera mounted on a humanoid robot, based on the assumption that the robot moves on a planar environment.
All proposed methods have been validated with experiments and comparative validation using both standard datasets and images taken by the cameras mounted on walking small humanoid robots.Nell’ambito della robotica, il Simultaneous Localization and Mapping (SLAM) é il processo grazie al quale un robot autonomo é in grado di creare una mappa dell’ambiente circostante e allo stesso tempo di localizzarsi avvalendosi di tale mappa. Negli ultimi anni un considerevole numero di ricercatori ha sviluppato nuove famiglie di algoritmi di SLAM, basati su vari sensori e utilizzando varie piattaforme robotiche. Uno degli ambiti più complessi nella ricerca sullo SLAM é il cosiddetto Visual-SLAM, che prevede l’utilizzo di vari tipi di telecamera come sensore per la navigazione. Le telecamere sono sensori economici che raccolgono molte informazioni sull’ambiente circostante. D’altro canto, la complessità degli algoritmi di visione artificiale e la forte dipendenza degli approcci attualmente realizzati dalle caratteristiche dell’ambiente, rendono il Visual-SLAM un problema lontano dal poter essere considerato risolto. Molti degli algoritmi di SLAM sono solitamente testati usando robot dotati di ruote. Sebbene tali piattaforme siano ormai robuste e stabili, la ricerca sulla progettazione di nuove piattaforme robotiche sta in parte migrando verso la robotica umanoide. Proprio come gli esseri umani, i robot umanoidi sono in grado di adattarsi ai cambiamenti dell’ambiente per raggiungere efficacemente i propri obiettivi. Nonostante ciò, solo pochi ricercatori hanno focalizzato i loro sforzi su implementazioni stabili di algoritmi di SLAM e Visual-SLAM adatti ai robot umanoidi. Tali piattaforme robotiche introducono nuove problematiche che possono compromettere la stabilità degli algoritmi di navigazione convenzionali, specie se basati sulla visione. I robot umanoidi sono dotati di un alto grado di libertà di movimento, con la possibilità di effettuare velocemente movimenti complessi: tali caratteristiche introducono negli spostamenti vibrazioni non deterministiche in grado di compromettere l’affidabilit` dei dati sensoriali acquisiti, per esempio introducendo nei flussi video effetti indesiderati quali il motion blur. A causa dei vincoli imposti dal bilanciamento del corpo, inoltre, tali robot non sempre possono essere dotati di unit` di elaborazione molto performanti che spesso sono ingombranti e dal peso elevato: ci` limita l’utilizzo di algoritmi complessi e computazionalmente gravosi. Infine, al contrario di quanto accade per i robot dotati di ruote, la complessa cinematica di un robot umanoide impedisce di ricostruire il movimento basandosi sulle informazioni provenienti dagli encoder posti sui motori. In questa tesi ci si é focalizzati sullo studio e sullo sviluppo di nuove metodologie per affrontare il problema del Visual-SLAM, ponendo particolare enfasi ai problemi legati all’utilizzo di piccoli robot umanoidi dotati di una singola telecamera come piattaforme per gli esperimenti. I maggiori sforzi nell’ambito della ricerca sullo SLAM e sul Visual-SLAM si sono concentrati nel campo del processo di stima dello stato del robot, ad esempio la stima della propria posizione e della mappa dell’ambiente. D’altra parte, la maggior parte delle problematiche incontrate nella ricerca sul Visual-SLAM sono legate al processo di percezione, ovvero all’interpretazione dei dati provenienti dai sensori. In questa tesi ci si é perciò concentrati sul miglioramento dei processi percettivi da un punto di vista della visione artificiale. Sono stati affrontati i problemi che scaturiscono dall’utilizzo di piccoli robot umanoidi come piattaforme sperimentali, come ad esempio la bassa capacità di calcolo, la bassa qualit` dei dati sensoriali e l’elevato numero di gradi di libertà nei movimenti. La bassa capacità di calcolo ha portato alla creazione di un nuovo metodo per misurare la similarità tra le immagini, che fa uso di una descrizione dell’immagine compatta, utilizzabile in applicazioni di SLAM topologico. Il problema del motion blur é stato affrontato proponendo una nuova tecnica di rilevamento di feature visive, unitamente ad un nuovo schema di tracking, robusto an- che in caso di motion blur non uniforme. E’ stato altresì sviluppato un framework per l’odometria basata sulle immagini, che fa uso delle feature visive presentate. Si propone infine un approccio al Visual-SLAM basato sulle omografie, che sfrutta le informazioni ottenute da una singola telecamera montata su un robot umanoide. Tale approccio si basa sull’assunzione che il robot si muove su una superficie piana. Tutti i metodi proposti sono stati validati con esperimenti e studi comparativi, usando sia dataset standard che immagini acquisite dalle telecamere installate su piccoli robot umanoidi.
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Alkhulayfi, Khalid Abdullah. "Vision-Based Motion for a Humanoid Robot." PDXScholar, 2016. https://pdxscholar.library.pdx.edu/open_access_etds/3176.
Full textAbstract:
The overall objective of this thesis is to build an integrated, inexpensive, human-sized humanoid robot from scratch that looks and behaves like a human. More specifically, my goal is to build an android robot called Marie Curie robot that can act like a human actor in the Portland Cyber Theater in the play Quantum Debate with a known script of every robot behavior. In order to achieve this goal, the humanoid robot need to has degrees of freedom (DOF) similar to human DOFs. Each part of the Curie robot was built to achieve the goal of building a complete humanoid robot. The important additional constraints of this project were: 1) to build the robot from available components, 2) to minimize costs, and 3) to be simple enough that the design can be replicated by non-experts, so they can create robot theaters worldwide. Furthermore, the robot appears lifelike because it executes two main behaviors like a human being. The first behavior is tracking where the humanoid robot uses a tracking algorithm to follow a human being. In other words, the tracking algorithm allows the robot to control its neck using the information taken from the vision system to look at the nearest human face. In addition, the robot uses the same vision system to track labeled objects. The second behavior is grasping where the inverse kinematics (IK) is calculated so the robot can move its hand to a specific coordinate in the surrounding space. IK gives the robot the ability to move its end-effector (hand) closer to how humans move their hands.
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Pajon, Adrien. "Humanoid robots walking with soft soles." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS060/document.
Full textAbstract:
Lorsque des changements inattendus de la surface du sol se produisent lors de la marche, le système nerveux central humain doit appliquer des mesures de contrôle appropriées pour assurer une stabilité dynamique. De nombreuses études dans le domaine de la commande moteur ont étudié les mécanismes d'un tel contrôle postural et ont largement décrit comment les trajectoires du centre de masse (COM), le placement des pas et l'activité musculaire s'adaptent pour éviter une perte d'équilibre. Les mesures que nous avons effectuées montrent qu'en arrivant sur un sol mou, les participants ont modulé de façon active les forces de réaction au sol (GRF) sous le pied de support afin d'exploiter les propriétés élastiques et déformables de la surface pour amortir l'impact et probablement dissiper l'énergie mécanique accumulée pendant la ‘chute’ sur la nouvelle surface déformable. Afin de contrôler plus efficacement l'interaction pieds-sol des robots humanoïdes pendant la marche, nous proposons d'ajouter des semelles extérieures souples (c'est-à-dire déformables) aux pieds. Elles absorbent les impacts et limitent les effets des irrégularités du sol pendant le mouvement sur des terrains accidentés. Cependant, ils introduisent des degrés de liberté passifs (déformations sous les pieds) qui complexifient les tâches d'estimation de l'état du robot et ainsi que sa stabilisation globale. Pour résoudre ce problème, nous avons conçu un nouveau générateur de modèle de marche (WPG) basé sur une minimisation de la consommation d'énergie qui génère les paramètres nécessaires pour utiliser conjointement un estimateur de déformation basé sur un modèle éléments finis (FEM) de la semelle souple pour prendre en compte sa déformation lors du mouvement. Un tel modèle FEM est coûteux en temps de calcul et empêche la réactivité en ligne. Par conséquent, nous avons développé une boucle de contrôle qui stabilise les robots humanoïdes lors de la marche avec des semelles souples sur terrain plat et irrégulier. Notre contrôleur en boucle fermée minimise les erreurs sur le centre de masse (COM) et le point de moment nul (ZMP) avec un contrôle en admittance des pieds basé sur un estimateur de déformation simplifié. Nous démontrons son efficacité expérimentalement en faisant marcher le robot humanoïde HRP-4 sur des graviersWhen unexpected changes of the ground surface occur while walking, the human central nervous system needs to apply appropriate control actions to assure dynamic stability. Many studies in the motor control field have investigated the mechanisms of such a postural control and have widely described how center of mass (COM) trajectories, step patterns and muscle activity adapt to avoid loss of balance. Measurements we conducted show that when stepping over a soft ground, participants actively modulated the ground reaction forces (GRF) under the supporting foot in order to exploit the elastic and compliant properties of the surface to dampen the impact and to likely dissipate the mechanical energy accumulated during the ‘fall’ onto the new compliant surface.In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we propose adding outer soft (i.e. compliant) soles to the feet. They absorb impacts and cast ground unevenness during locomotion on rough terrains. However, they introduce passive degrees of freedom (deformations under the feet) that complexify the tasks of state estimation and overall robot stabilization. To address this problem, we devised a new walking pattern generator (WPG) based on a minimization of the energy consumption that offers the necessary parameters to be used jointly with a sole deformation estimator based on finite element model (FEM) of the soft sole to take into account the sole deformation during the motion. Such FEM computation is time costly and inhibit online reactivity. Hence, we developed a control loop that stabilizes humanoid robots when walking with soft soles on flat and uneven terrain. Our closed-loop controller minimizes the errors on the center of mass (COM) and the zero-moment point (ZMP) with an admittance control of the feet based on a simple deformation estimator. We demonstrate its effectiveness in real experiments on the HRP-4 humanoid walking on gravels
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Kim, Hyun-Don. "Binaural Active Audition for Humanoid Robots." 京都大学 (Kyoto University), 2008. http://hdl.handle.net/2433/123821.
Full textBooks on the topic "Humanoid Robots"
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Merkle, Moritz. Humanoid Service Robots. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5.
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González Aguirre, David Israel. Visual Perception for Humanoid Robots. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-319-97841-3.
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Harada, Kensuke, Eiichi Yoshida, and Kazuhito Yokoi, eds. Motion Planning for Humanoid Robots. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-220-9.
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Harada, Kensuke, Eiichi Yoshida, and Kazuhito Yokoi. Motion planning for humanoid robots. London: Springer, 2010.
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Azad, Pedram. Visual Perception for Manipulation and Imitation in Humanoid Robots. Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg, 2009.
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Kahraman, Cengiz, and Eda Bolturk, eds. Toward Humanoid Robots: The Role of Fuzzy Sets. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-67163-1.
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Dietrich, Alexander. Whole-Body Impedance Control of Wheeled Humanoid Robots. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-40557-5.
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Vernon, David, Claes von Hofsten, and Luciano Fadiga. A Roadmap for Cognitive Development in Humanoid Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-16904-5.
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Azad, Pedram. Visual Perception for Manipulation and Imitation in Humanoid Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-04229-4.
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Henze, Bernd. Whole-Body Control for Multi-Contact Balancing of Humanoid Robots. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-87212-0.
Full textBook chapters on the topic "Humanoid Robots"
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Cabás Ormaechea, Luis Maria. "Humanoid Robots." In Advanced Mechanics in Robotic Systems, 1–18. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-588-0_1.
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Yoshida, Eiichi. "Humanoid Robots." In Encyclopedia of Robotics, 1–14. Berlin, Heidelberg: Springer Berlin Heidelberg, 2021. http://dx.doi.org/10.1007/978-3-642-41610-1_44-1.
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Smith, Fraser. "Sarcos Robots." In Humanoid Robotics: A Reference, 325–35. Dordrecht: Springer Netherlands, 2018. http://dx.doi.org/10.1007/978-94-007-6046-2_22.
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Merkle, Moritz. "Introduction." In Humanoid Service Robots, 1–13. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_1.
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Merkle, Moritz. "Conceptual Background." In Humanoid Service Robots, 15–76. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_2.
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Merkle, Moritz. "Study 4: Customer Responses to Service Robots: Comparing Human-Robot Interaction with Human-Human Interaction." In Humanoid Service Robots, 173–89. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_7.
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Merkle, Moritz. "Study 3: Beyond the Call of Duty: The Impact of Innovative Service Behavior by Robots on Customer Delight." In Humanoid Service Robots, 145–72. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_6.
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Merkle, Moritz. "Overall Discussion." In Humanoid Service Robots, 191–200. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_8.
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Merkle, Moritz. "Study 1: A Service Robot Acceptance Model: Customer Acceptance of Humanoid Robots During Service Encounters." In Humanoid Service Robots, 113–29. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_4.
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Merkle, Moritz. "Method." In Humanoid Service Robots, 77–111. Wiesbaden: Springer Fachmedien Wiesbaden, 2021. http://dx.doi.org/10.1007/978-3-658-34440-5_3.
Full textConference papers on the topic "Humanoid Robots"
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Rojas, Salvador, He Shen, Holly Griffiths, Ni Li, and Lanchun Zhang. "Motion and Gesture Compliance Control for High Performance of a Wheeled Humanoid Robot." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-72337.
Full textAbstract:
Humanoid robots have the potential to help or even take the place of humans working in extreme or undesirable environments. Wheeled humanoids are robots that combine the mobility of mobile platforms, and the dexterity of an articulated body with two robotic arms. To perform like a human being, these robots normally are designed with a high center of mass, which makes it challenging to maintain stability while achieving high performance on complex and unpredictable terrain. Inspired from how humans react to balance themselves, a compliance control method is studied to help the wheeled humanoid robot developed at the Robotics Laboratory at Cal State LA achieve high dynamic performance while scouting over uneven terrain. Lagrange-Euler method is used to obtain the dynamic model of the humanoid robot. Then a nonlinear sliding mode compliance controller is derived and proven to ensure asymptotic stability of the humanoid robot while tracking desired reference trajectories. Finally, the performance of the proposed compliance control system is demonstrated using simulation. The results show that the robot successfully tracks a given input while maintaining balance based on the proposed tip-over avoidance algorithm.
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Neises, Michael. "Humanoid Robots." In HRI '20: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2020. http://dx.doi.org/10.1145/3371382.3378380.
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Penco, Luigi, Jean-Baptiste Mouret, and Serena Ivaldi. "Prescient Teleoperation of Humanoid Robots." In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). IEEE, 2023. http://dx.doi.org/10.1109/humanoids57100.2023.10375166.
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Sarvadevabhatla, Ravi Kiran, and Victor Ng-Thow-Hing. "Panoramic attention for humanoid robots." In 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009). IEEE, 2009. http://dx.doi.org/10.1109/ichr.2009.5379578.
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Tadesse, Yonas. "Actuation Technologies Suitable for Humanoid Robots." In ASME 2012 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/imece2012-87189.
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Actuator selection is a key component in the design and development of humanoid robots. The issue of actuation technologies is a fundamental question that determines the level of complexity and ability of the machine to perform similar functions to that of a human, and needs continuous assessment at all level of design and technological advancement. The main objective of developing humanoid robots is to mimic the behavior of human to that of the machine and the prototypes presented so far can be categorized as machine-like and human-like robot. The former is focused on mobility, and the later one on the behavior of the robot including gesture synthesis, facial expression illustrating the internal emotion of the robot and generally on the cognitive aspects. Humanoid Robots with Facial Expressions (HRwFE) are getting momentum and there exist a strong derive to build them because they can potentially be used for various applications including health care, military, industry, and household. For all kinds of humanoid robots, the selection of actuators is challenging. It is not only the stress, strain, energy density, power consumption, life cycle, linearity, repeatability, response time, band width and etc. But other factors such as ease of control, availability, maturity, and cost of the actuation technology have significant importance. This paper focuses on the issues mentioned above and presents comparative assessment of the actuation technologies for humanoid robots focusing on humanoid head.
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Trovato, Gabriele, Francisco Cuellar, and Masao Nishimura. "Introducing ‘theomorphic robots’." In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE, 2016. http://dx.doi.org/10.1109/humanoids.2016.7803429.
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Grey, Michael, Sungmoon Joo, and Matt Zucker. "Planning heavy lifts for humanoid robots." In 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014). IEEE, 2014. http://dx.doi.org/10.1109/humanoids.2014.7041430.
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Pretto, Alberto, Emanuele Menegatti, and Enrico Pagello. "Reliable features matching for humanoid robots." In 2007 7th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2007). IEEE, 2007. http://dx.doi.org/10.1109/ichr.2007.4813922.
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Flacco, Fabrizio, Antonio Paolillo, and Abderrahmane Kheddar. "Residual-based contacts estimation for humanoid robots." In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE, 2016. http://dx.doi.org/10.1109/humanoids.2016.7803308.
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Luo, Zhou, Xuechao Chen, Zhangguo Yu, Qiang Huang, Libo Meng, Qingqing Li, Weimin Zhang, Wenjuan Guo, and Aiguo Ming. "Trajectory optimization of humanoid robots swinging leg." In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). IEEE, 2017. http://dx.doi.org/10.1109/humanoids.2017.8246898.
Full textReports on the topic "Humanoid Robots"
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Arsenio, Artur. Children, Humanoid Robots and Caregivers. Fort Belvoir, VA: Defense Technical Information Center, January 2004. http://dx.doi.org/10.21236/ada434761.
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Sunardi, Mathias. Synthesizing Expressive Behaviors for Humanoid Robots. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.7440.
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Scassellati, Brian. Theory of Mind for a Humanoid Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2000. http://dx.doi.org/10.21236/ada434754.
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Sofge, D., Dennis Perzanowski, M. Skubic, N. Cassimatis, J. G. Trafton, D. Brock, Magda Bugajska, William Adams, and Alan C. Schultz. Achieving Collaborative Interaction with a Humanoid Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2003. http://dx.doi.org/10.21236/ada434972.
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Toskova, Asya, Borislav Toshkov, Stanimir Stoyanov, and Ivan Popchev. Genetic Algorithm for a Learning Humanoid Robot. "Prof. Marin Drinov" Publishing House of Bulgarian Academy of Sciences, August 2019. http://dx.doi.org/10.7546/crabs.2019.08.13.
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Alkhulayfi, Khalid. Vision-Based Motion for a Humanoid Robot. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.3173.
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Marjanovic, Matthew, Brian Scassellati, and Matthew Williamson. Self-Taught Visually-Guided Pointing for a Humanoid Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada450328.
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Scassellati, Brian. Investigating Models of Social Development Using a Humanoid Robot. Fort Belvoir, VA: Defense Technical Information Center, January 1998. http://dx.doi.org/10.21236/ada434679.
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Varshavskaya, Paulina. Behavior-Based Early Language Development on a Humanoid Robot. Fort Belvoir, VA: Defense Technical Information Center, January 2002. http://dx.doi.org/10.21236/ada434707.
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Edsinger, Aaron, and Una-May O'Reilly. Designing a Humanoid Robot Face to Fulfill a Social Contract. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada434150.
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