To see the other types of publications on this topic, follow the link: Humanoid Robots.
Journal articles on the topic 'Humanoid Robots'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 journal articles for your research on the topic 'Humanoid Robots.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.
1
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.
Full textAbstract:
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.
2
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.
Full text
3
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.
Full textAbstract:
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.
4
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.
Full textAbstract:
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.
5
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.
Full textAbstract:
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.
6
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.
Full textAbstract:
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.
7
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.
Full textAbstract:
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
8
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.
Full textAbstract:
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.
9
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.
Full textAbstract:
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.
10
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.
Full textAbstract:
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.
11
Hawley, Louis, Rémy Rahem, and Wael Suleiman. "External Force Observer for Small- and Medium-Sized Humanoid Robots." International Journal of Humanoid Robotics 16, no. 06 (December 2019): 1950030. http://dx.doi.org/10.1142/s0219843619500300.
Full textAbstract:
External force observer for humanoid robots has been widely studied in the literature. However, most of the proposed approaches generally rely on information from six-axis force/torque sensors, which the small or medium-sized humanoid robots usually do not have. As a result, those approaches cannot be applied to this category of humanoid robots, which are widely used nowadays in education or research. In this paper, we propose a Kalman filter-based observer to estimate the three components of an external force applied in any direction and at an arbitrary point of the robot’s structure. The observer is simple to implement and can easily run in real time using the embedded processor of a small or medium-sized humanoid robot such as Nao or Darwin-OP. Moreover, the observer does not require any changes to the robot’s hardware, as it only uses measurements from the available force-sensing resistors (FSR) inserted under the feet of the humanoid robot and from the robot’s inertial measurement unit (IMU). The proposed observer was extensively validated on a Nao humanoid robot in both cases of standing still or walking while an external force was applied to the robot. In the conducted experiments, the observer successfully estimated the external force within a reasonable margin of error. Moreover, the experimental data and the MATLAB and C++/ROS implementations of the proposed observer are available as an open source package. https://goo.gl/VkhejY.
12
Rafly Azmi Ulya, Amik, Nathanael Hutama Harsono, Eko Mulyanto Yuniarno, and Mauridhi Hery Purnomo. "HiroPoseEstimation: A Dataset of Pose Estimation for Kid-Size Humanoid Robot." Journal of Information Technology and Computer Science 8, no. 3 (December 15, 2023): 231–40. http://dx.doi.org/10.25126/jitecs.202383568.
Full textAbstract:
Pose estimation is a field of computer vision research that involves detecting, associating, and tracking data points on body parts. It is used for health monitoring, sign language understanding, human gesture control, elderly activities, sports, and humanoid robot pose estimation. The anatomy of a humanoid robot is similar to a human, which forms the basis for utilizing humanoid robot pose estimation. The Humanoid League is a major domain of the RoboCup competition, featuring soccer matches between humanoid robots. Pose estimation is used to measure the robot’s performance. Nevertheless, there have not been many research done on this subject. A new dataset model needs to be developed to solve the proposed problem. This work introduces HiroPoseEstimation, a kid-size humanoid robot dataset with several types of robots used in various poses based on movements in a soccer game. It is evaluated with both bottomup and top-down approaches using keypoint mask R-CNN and single-stage encoder-decoder model. Both methods demonstrate good performance on the proposed dataset.
13
Hornung, Armin, Stefan Oßwald, Daniel Maier, and Maren Bennewitz. "Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments." International Journal of Humanoid Robotics 11, no. 02 (June 2014): 1441002. http://dx.doi.org/10.1142/s0219843614410023.
Full textAbstract:
Accurate and reliable localization is a prerequisite for autonomously performing high-level tasks with humanoid robots. In this paper, we present a probabilistic localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing, which is a challenging task. Inaccurate motion execution of biped robots leads to an uncertain estimate of odometry, and their limited payload constrains perception to observations from lightweight and typically noisy sensors. Additionally, humanoids do not walk on flat ground only and perform a swaying motion while walking, which requires estimating a full 6D torso pose. We apply Monte Carlo localization to globally determine and track a humanoid's 6D pose in a given 3D world model, which may contain multiple levels and staircases. We present an observation model to integrate range measurements from a laser scanner or a depth camera as well as attitude data and information from the joint encoders. To increase the localization accuracy, e.g., while climbing stairs, we propose a further observation model and additionally use monocular vision data in an improved proposal distribution. We demonstrate the effectiveness of our methods in extensive real-world experiments with a Nao humanoid. As the experiments illustrate, the robot is able to globally localize itself and accurately track its 6D pose while walking and climbing stairs.
14
Taira, Tetsuya, and Nobuyuki Yamasaki. "Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot." Journal of Robotics and Mechatronics 18, no. 3 (June 20, 2006): 286–98. http://dx.doi.org/10.20965/jrm.2006.p0286.
Full textAbstract:
This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.
15
Tuna, Gurkan, Ayse Tuna, Emine Ahmetoglu, and Hilmi Kuscu. "A survey on the use of humanoid robots in primary education: Prospects, research challenges and future research directions." Cypriot Journal of Educational Sciences 14, no. 3 (September 30, 2019): 361–73. http://dx.doi.org/10.18844/cjes.v14i3.3291.
Full textAbstract:
In parallel with the significant and exciting advancements in robot technologies, the use of humanoid robots to support teaching strategies and learning goals has become a popular topic. Different from the traditional instructional or learning tools, humanoid robots can exhibit mobile behaviours and numerous repetitions and are very helpful to the students in developing problem-solving and collaboration abilities. Presently, the roles of humanoid robots in classrooms fall into four main categories: learning materials, learning companions, teaching assistants and communication mediators to support group learning, respectively. With the humanoid appearance, anthropomorphism, interaction, flexibility, repeatability and digital data representation, humanoid robots have great potential to be useful especially in preschool and primary school education. In this paper, limitations and challenges of the use of humanoid robots as teaching assistants are presented in addition to exploring the relationship between humanoid robots and performance in learning.
Keywords: Humanoid robot, teaching, social interaction, learning tool, assisted learning.
16
Andrean, Danu, and Nuryono Satya Widodo. "Simulation and Implementation of RSCUAD Walking Robot Based on ROS and Gazebo Simulator." Control Systems and Optimization Letters 1, no. 2 (July 18, 2023): 93–98. http://dx.doi.org/10.59247/csol.v1i2.32.
Full textAbstract:
This research describes the virtual humanoid robot R-SCUAD using the Gazebo simulator. In its development, humanoid robots often perform movements that have a negative impact on the robot's hardware, therefore the development of a virtual robot model is a solution to overcome this problem. So that the robot can be simulated before running. Gazebo is a robot simulator that allows to accurately simulate, design and test robots in various environments. Gazebo itself is a simulation used by ROS (robotic operating system). The simulation is built by doing a 3D design process in solidwork software and exported to a URDF file that matches the format on the ROS. Tests carried out on robots are by comparing virtual robots with real robots. From the tests carried out on the robot, it was found that the virtual robot can walk according to the real robot, such as falling if the robot's condition is not balanced. The simulation robot also moves according to the real robot when the controls are carried out.
17
Jagtap, Vinayak, Shlok Agarwal, Ameya Wagh, and Michael Gennert. "Transportable open-source application program interface and user interface for generic humanoids: TOUGH." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142092160. http://dx.doi.org/10.1177/1729881420921607.
Full textAbstract:
Humanoid robotics is a complex and highly diverse field. Humanoid robots may have dozens of sensors and actuators that together realize complicated behaviors. Adding to the complexity is that each type of humanoid has unique application program interfaces, thus software written for one humanoid does not easily transport to others. This article introduces the transportable open-source application program interface and user interface for generic humanoids, a set of application program interfaces that simplifies the programming and operation of diverse humanoid robots. These application program interfaces allow for quick implementation of complex tasks and high-level controllers. Transportable open-source application program interface and user interface for generic humanoids has been developed for, and tested on, Boston Dynamics’ Atlas V5 and NASA’s Valkyrie R5 robots. It has proved successful for experiments on both robots in simulation and hardware, demonstrating the seamless integration of manipulation, perception, and task planning. To encourage the rapid adoption of transportable open-source application program interface and user interface for generic humanoids for education and research, the software is available as Docker images, which enable quick setup of multiuser simulation environments.
18
AYAZ, YASAR, KHALID MUNAWAR, MOHAMMAD BILAL MALIK, ATSUSHI KONNO, and MASARU UCHIYAMA. "HUMAN-LIKE APPROACH TO FOOTSTEP PLANNING AMONG OBSTACLES FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 04, no. 01 (March 2007): 125–49. http://dx.doi.org/10.1142/s0219843607000960.
Full textAbstract:
Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
19
KIM, MIN-SUN, LI GONG, NICOLE SAITO, KIMBERLY NISHIGAYA, MARJORIE CABICO, and PASCALE LAFONTAINE. "THE ROLE OF SELF-CONSTRUAL ON PREFERRED COMMUNICATION STYLES WITH HUMANOID ROBOTS." International Journal of Humanoid Robotics 08, no. 02 (June 2011): 359–74. http://dx.doi.org/10.1142/s0219843611002472.
Full textAbstract:
Research on human–human communication has identified that people apply different constraints in communication with each other. Application of such constraints as social concerns over feeling, imposition, and disapproval and task concerns over clarity and effectiveness has also been found to be influenced by people's self-construal, being independent or interdependent. Do these constraints and individual difference in self-construal matter in communication with humanoid robots? This study uses the theoretical framework of communication constraints to compare whether or not people of different self-construals apply social-oriented and task-oriented constraints differently to humanoid social robot targets. A total of 161 students from the University of Hawaii at Manoa participated in the study. The participants completed a questionnaire that determined their concern for the five communication constraints (feelings, nonimposition, disapproval, clarity, and effectiveness) in situations involving robots, as well as scales measuring self-construal. The results show interdependent self-construal related significantly with the concerns over avoiding hurting the humanoid's feelings, avoiding inconveniencing the humanoid robot, and avoiding being disliked by the humanoid robot. On the other hand, independent self-construal related significantly with the concern over clarity in communicating with the humanoid robot. However, self-construal did not influence one's concern of effectiveness (a task-oriented constraint) in interaction with humanoid robots. The results of the research offer new insight into the linkage between self-construal, a cultural concept at the individual level, and how human–robot communication is psychologically structured and constrained.
20
Takanishi, Atsuo. "Humanoid Robots. Human Communication Oriented Humanoid Robot." Journal of the Robotics Society of Japan 15, no. 7 (1997): 971–74. http://dx.doi.org/10.7210/jrsj.15.971.
Full text
21
Zhi, Kien Lam, and Sheikh Muhammad Hafiz Fahami Zainal. "Stability Control of Humanoid Biped Robot using PID Controllers." MEKATRONIKA 5, no. 1 (June 9, 2023): 88–96. http://dx.doi.org/10.15282/mekatronika.v5i1.9416.
Full textAbstract:
As technology has advanced, the usage of robots has become a major worldwide issue, especially for robots that interact with people. Humanoid biped robots have the potential to function as people's helpers, capable of assisting society and replacing humans in various or dangerous tasks. However, despite advances in robotic stability control, robust control for a broad variety of applications remains a difficulty. The purpose of this research is to look at optimum control techniques for stability control in humanoid biped robots in order to obtain superior stability. To regulate the robot's stability, several control techniques such as Proportional-Integral-Derivative control, Proportional-Integral control, Proportional-Derivative control, and Linear Quadratic Regulator (LQR) are utilised. Before implementing these control techniques, the humanoid biped robot's open loop system is evaluated to determine its stability response. To investigate the system response of robot stability control, the MATLAB programme is used.
22
Suchman, Lucy. "Subject objects." Feminist Theory 12, no. 2 (August 2011): 119–45. http://dx.doi.org/10.1177/1464700111404205.
Full textAbstract:
The focus of my inquiry in this article is the figure of the Human that is enacted in the design of the humanoid robot. The humanoid or anthropomorphic robot is a model (in)organism, engineered in the roboticist’s laboratory in ways that both align with and diverge from the model organisms of biology. Like other model organisms, the laboratory robot’s life is inextricably infused with its inherited materialities and with the ongoing — or truncated — labours of its affiliated humans. But while animal models are rendered progressively more standardised and replicable as tools for the biological sciences, the humanoid robot is individuated and naturalised. Three stagings of human— robot encounters (with the robots Mertz, Kismet and Robota respectively) demonstrate different possibilities for conceptualising these subject objects, for the claims about humanness that they corporealise, and for the kinds of witnessing that they presuppose.
23
Samosir, Ahmad Sopi, and Nuryono Satya Widodo. "Gyroscope and Accelerometer Sensor on the Lanange Jagad Dance Robot Balance System." Buletin Ilmiah Sarjana Teknik Elektro 2, no. 2 (July 21, 2020): 51. http://dx.doi.org/10.12928/biste.v2i2.922.
Full textAbstract:
In performing dance moves, humanoid robots are expected to move flexibly and not easily fall during dance moves. To reduce the risk of robots falling while performing dance moves, a balance control system using a gyroscope sensor and accelerometer from the MPU6050 is controlled through the Arduino MEGA 2560 PRO. Robots that have balance control, are able to maintain stability in track conditions that have a certain degree of slope. This balance control system uses the Kalman filter method for processing data from the gyroscope sensor and accelerometer in order to reduce the noise that occurs during the robot's balance process. From the results of the test, the percentage of the success rate of robots in rest was 88.8%, the percentage of success when the robot was running was 86.6%, and the percentage of success when the robot was walking with dancing was 75%. From the results of all tests, humanoid robot has a percentage of 83.4% after adding a balance control system and when the humanoid robot does not use balance control will only produce a percentage of success rate of 48.4%.
24
VELOSO, MANUELA, NICHOLAS ARMSTRONG-CREWS, SONIA CHERNOVA, ELISABETH CRAWFORD, COLIN MCMILLEN, MAAYAN ROTH, DOUGLAS VAIL, and STEFAN ZICKLER. "A TEAM OF HUMANOID GAME COMMENTATORS." International Journal of Humanoid Robotics 05, no. 03 (September 2008): 457–80. http://dx.doi.org/10.1142/s0219843608001479.
Full textAbstract:
We present a team of two humanoid robot commentators for AIBO robot soccer games. The two humanoids stand by the side lines of the playing field, autonomously observe the game, wirelessly listen to a "game controller" computer, recognize events, and select announcing actions that may require coordination with each other. Given the large degree of uncertainty and dynamics of the robot soccer games, we further introduce a "Puppet Master" control that allows humans to intervene, prompting the robots to commentate an event if previously undefined or undetected. The robots recognize events based on input from these three sources, namely own and shared vision, game controller, and occasional Puppet Master. We present the two-humanoid behavioral architecture and the vision-based event recognition, including a SIFT-based vision processing algorithm that allows for the detection of multiple similar objects, such as the identical shaped robot players. We introduce the commentating algorithm that probabilistically selects a commentating action from a set of weighted actions corresponding to a detected event. The probabilistic selection uses the game history and updates the action weights to effectively avoid repetition of comments to enable entertainment. Our work, corresponding to a fully implemented system, CMCast, with two QRIO robots, contributes a team of two humanoids fully executing a challenging observation, modeling, coordination, and reporting task.
25
Asthana, Shefalika, Srikanth R. Karna, and Irine Ann Shelby. "Amaranthine: Humanoid Robot Kinematics." International Journal of High Speed Electronics and Systems 29, no. 01n04 (March 2020): 2040015. http://dx.doi.org/10.1142/s0129156420400157.
Full textAbstract:
Humanoid robots are employed in a wide range of fields to replicate human actions. This paper presents the mechanism, configuration, mathematical modeling, and workspace of a 3D printed humanoid robot – Amaranthine. It also discusses the potential scope of humanoid robots in the present day and future. Robots can be programmed for automation as per the demand of the task or operations to be performed. Humanoid robots, while being one of the small groups of service robots in the current market, have the greatest potential to become the industrial tool of the future. Introducing a Humanoid Robot-like Amaranthine holds huge scope majorly in the fields of medical assistance, teaching aid, large industries where heavy-duty operations require application-specific software, etc. Amaranthine was 3D printed and assembled at the RISC Lab of University of Bridgeport.
26
K, Karthika, Nityashree ., AryaRa ., and Tabassum B Shivanagi. "Humanoid Robotics in Artificial Intelligence." International Research Journal of Computer Science 10, no. 05 (June 23, 2023): 250–56. http://dx.doi.org/10.26562/irjcs.2023.v1005.26.
Full textAbstract:
The humanoid robotics is the emerging and the fascinating field of research as it combines the advancements in artificial intelligence, machine learning and robotics to design socio- intelligent and human-like robots and robots resembling the human body in the structure .Art of humanoid robotics which include integration of artificial intelligent techniques to enhance their cognitive abilities, interactive behavior and perceptual capabilities like perception and sensing, natural language processing ,human robot interaction, autonomy and control, personalization and adaptability, collaborative capabilities. Overall artificial intelligence plays a crucial role in enhancing the capabilities of humanoid robotics. Machine learning is the one of the ways of implementing the social intelligence in humanoid robots. Humanoid robot is defined as robot resembling the human body and can interact with external world and exhibit basic locomotion like gestures and response to real time scenarios. Domestic robots like poppy developed and designed by poppy project and NAO developed by Softbank. Humanoid robots are used in healthcare, public-relations, education ,rescue operations, research ,human -robot interactions, personal assistance, and education sectors . Robots have proved to be good human companion by doing basic human chores and by robot human interactions. The presented research focuses on the development of 2D,3D indoor humanoid robots in a cost-effective manner which are capable of doing basic human household chores, understanding the human emotions, care giving, personal assistance and in education sector as social robot as an assistive tool in classrooms by accepting the voice commands and responding through the hand gestures and by biped or wheeled locomotion .
27
Viraktamath, Dr S. V. "Humanoid Robot: A Review." International Journal for Research in Applied Science and Engineering Technology 9, no. 8 (August 31, 2021): 2884–94. http://dx.doi.org/10.22214/ijraset.2021.37890.
Full textAbstract:
Abstract: Technology is ever evolving regardless of the current conditions. Emerging technologies have capability to change the world. Innovation is everywhere we look. One of the technologies that is emerging is Humanoid Robotics. This paper gives a review about influence of Humanoid Robot in human life also discuss the appearance of various robots. Artists, engineers and scientists have all been inspired by the human body and intellect. Humanoid Robotics is focused with the creation of robots that are inspired directly by human abilities. A humanoid robot is the one with a body that is designed to look like a human. Humanoid Robots imitate characteristics of human form and behaviour selectively. The robot could be used for practical purposes, such as interacting with human equipment and environments or for research purposes, such as investigating biped walking. Keywords: Biped Robot, Degrees of Freedom, Humanoid Robot, Human-Robot Interaction
28
Hirukawa, Hirohisa. "Walking biped humanoids that perform manual labour." Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences 365, no. 1850 (November 17, 2006): 65–77. http://dx.doi.org/10.1098/rsta.2006.1916.
Full textAbstract:
The Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan realized that biped humanoid robots can perform manual labour. The project developed humanoid robot platforms, consisting of humanoid robot hardware and a package of fundamental software, and explored applications of humanoid robots on them. The applications include maintenance tasks of industrial plants, teleoperation of industrial vehicles, cooperative tasks with a human, guarding the home and office and the care of patients in beds.
29
NISHIMURA, YOSHITAKA, KAZUTAKA KUSHIDA, HIROSHI DOHI, MITSURU ISHIZUKA, JOHANE TAKEUCHI, MIKIO NAKANO, and HIROSHI TSUJINO. "DEVELOPMENT OF MULTIMODAL PRESENTATION MARKUP LANGUAGE MPML-HR FOR HUMANOID ROBOTS AND ITS PSYCHOLOGICAL EVALUATION." International Journal of Humanoid Robotics 04, no. 01 (March 2007): 1–20. http://dx.doi.org/10.1142/s0219843607000947.
Full textAbstract:
Animated agents that act and speak as attendants to guests on shopping web sites are becoming increasingly popular. Inspired by this development, we propose a new method of presentation using a humanoid robot. Humanoid presentations are effective in a real environment because they can move and look around at the audience similar to a human presenter. We developed a simple script language for multimodal presentations by a humanoid robot called MPML-HR, which is a descendant of the Multimodal Presentation Markup Language (MPML) originally developed for animated agents. MPML-HR allows many non-specialists to easily write multimodal presentations for a humanoid robot. We further evaluated humanoid robots' presentation ability using MPML-HR to find the difference in audience impressions between the humanoid robot and the animated agent. Psychological evaluation was conducted to compare the impressions of a humanoid robot's presentation with an animated agent's presentation. Using the Semantic Differential (SD) method and direct questioning, we measured the difference in audience impressions between an animated agent and a humanoid robot.
30
Senthil Kumaran, B., and S. J.Jebasingh Kirubakaran. "Implementation of 6-DOF Biped Footstep Planning Under Different Terrain Conditions." International Journal of Engineering & Technology 7, no. 3.12 (July 20, 2018): 92. http://dx.doi.org/10.14419/ijet.v7i3.12.15870.
Full textAbstract:
Humanoid robots gain starting their anthropomorphic profile when functional in human-made environments. In direct to achieve human-like capabilities, robots must be able to recognize, understand and interrelate with the nearby world. We present the development of safe routing strategy for biped robots moving in difficulty untidy environments. In the near view, humanoids play a vital role in helping the mankind by performing the day today activities. Navigation of a humanoid under different terrain conditions such as flat, inclined and slippery environments is a challenge that requires a solution to use humanoids in the households. In this regard, in the planned paper work, a biped robot with 6-Degree of freedom has been designed and tested on the sloped and slippery surfaces, in addition to it, the ultrasonic sensors are used to identify the obstacles. Based on the obstacle identification, the biped path can be altered in order to evade impact within obstacle.
31
Pawan P, Mr. "PATIENT MONITORING HUMANOID ROBOT FOR PANDEMIC SITUATIONS." International Scientific Journal of Engineering and Management 03, no. 04 (April 23, 2024): 1–9. http://dx.doi.org/10.55041/isjem01524.
Full textAbstract:
Humanoid robots are a rapidly evolving field of research and development that aims to create robots with human- l ike characteristics and capabilities. These robots possess a wide range of applications, from assisting humans in various tasks to exploring environments that are hazardous or inaccessible to humans. The development of humanoid robot involves the integration of advanced technologies, including robotics, artificial intelligence, computer vision, and natural language processing. This abstract explores the key aspects of humanoid robots, including their design, locomotion, perception, cognition, and interaction capabilities. It discusses the challenges involved in creating humanoid robots that can navigate complex environments, recognize and manipulate objects, understand and respond to human speech and gestures, and exhibit social behaviours. The abstract also highlights the potential benefits and ethical considerations associated with humanoid robots, such as their role in healthcare, education, e n t e r t a i n m e n t , a n d d i s a s t e r r e s p o n s e . Furthermore, the abstract addresses ongoing research efforts and technological advancements in the field of humanoid robotics, including the development of more dexterous and agile robot improvements in human- robot interaction, and the integration of machine learning and deep learning techniques. It emphasizes the importance of interdisciplinary collaboration and the need for robust hardware and software solutions to overcome the challenges faced in creating humanoid robots. Keywords—ATmega8 microcontroller, DHT Sensors, Heart Beat Sensor,LCD.
32
Feingold-Polak, Ronit, Avital Elishay, Yonat Shahar, Maayan Stein, Yael Edan, and Shelly Levy-Tzedek. "Differences between young and old users when interacting with a humanoid robot: a qualitative usability study." Paladyn, Journal of Behavioral Robotics 9, no. 1 (July 1, 2018): 183–92. http://dx.doi.org/10.1515/pjbr-2018-0013.
Full textAbstract:
Abstract With the aging of the population worldwide, humanoid robots are being used with an older population, e.g., stroke patients and people with dementia. There is a growing body of knowledge on how people interact with robots, but limited information on the difference between young and old adults in their preferences when interacting with humanoid robots and what factors influence these preferences.We developed a gamified robotic platform of a cognitive-motor task.We conducted two experiments with the following aims: to test how age, location of touch interaction (touching the robot’s tablet or hand), and embodied presence of a humanoid robot affect the motivation of different age-group users to continue performing a cognitive-motor task. A total of 60 participants (30 old adults and 30 young adults) took part in two experiments with the humanoid Pepper robot (Softbank robotics). Both old and young adults reported they enjoyed the interaction with the robot as they found it engaging and fun, and preferred the embodied robot over the non-embodied computer screen. This study highlights that in order for the experience of the user to be positive a personalization of the interaction according to the age, the needs of the user, the characteristics, and the pace of the task is needed.
33
PARK, HYUNGJU ANDY, MUHAMMAD AHMAD ALI, and C. S. GEORGE LEE. "CLOSED-FORM INVERSE KINEMATIC POSITION SOLUTION FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 09, no. 03 (September 2012): 1250022. http://dx.doi.org/10.1142/s0219843612500223.
Full textAbstract:
This paper focuses on developing a consistent methodology for deriving a closed-form inverse kinematic joint solution of a humanoid robot with decision equations to select a proper solution from multiple solutions. Most researchers resort to iterative methods for inverse kinematics using the Jacobian matrix to avoid the difficulty of finding a closed-form joint solution. Since a closed-form joint solution, if available, has many advantages over iterative methods, we have developed a novel reverse-decoupling method by viewing the kinematic chain of a limb of a humanoid robot in reverse order and then decoupling it into the positioning and orientation mechanisms, and finally utilizing the inverse-transform technique to derive a consistent joint solution for the humanoid robot. The proposed method presents a simple and efficient procedure for finding the joint solution for most of the existing humanoid robots. Extensive computer simulations of the proposed approach on a Hubo KHR-4 humanoid robot show that it can be applied easily to most humanoid robots such as HOAP-2, HRP-2 and ASIMO humanoid robots with slight modifications.
34
Park, Cheonyu, Baekseok Kim, Yitaek Kim, Younseal Eum, Hyunjong Song, Dongkuk Yoon, Jeongin Moon, and Jeakweon Han. "Carved Turn Control with Gate Vision Recognition of a Humanoid Robot for Giant Slalom Skiing on Ski Slopes." Sensors 22, no. 3 (January 21, 2022): 816. http://dx.doi.org/10.3390/s22030816.
Full textAbstract:
The performance of humanoid robots is improving, owing in part to their participation in robot games such as the DARPA Robotics Challenge. Along with the 2018 Winter Olympics in Pyeongchang, a Skiing Robot Competition was held in which humanoid robots participated autonomously in a giant slalom alpine skiing competition. The robots were required to transit through many red or blue gates on the ski slope to reach the finish line. The course was relatively short at 100 m long and had an intermediate-level rating. A 1.23 m tall humanoid ski robot, ‘DIANA’, was developed for this skiing competition. As a humanoid robot that mimics humans, the goal was to descend the slope as fast as possible, so the robot was developed to perform a carved turn motion. The carved turn was difficult to balance compared to other turn methods. Therefore, ZMP control, which could secure the posture stability of the biped robot, was applied. Since skiing takes place outdoors, it was necessary to ensure recognition of the flags in various weather conditions. This was ensured using deep learning-based vision recognition. Thus, the performance of the humanoid robot DIANA was established using the carved turn in an experiment on an actual ski slope. The ultimate vision for humanoid robots is for them to naturally blend into human society and provide necessary services to people. Previously, there was no way for a full-sized humanoid robot to move on a snowy mountain. In this study, a humanoid robot that transcends this limitation was realized.
35
CARPIN, STEFANO, MARCELO KALLMANN, and ENRICO PAGELLO. "THE CHALLENGE OF MOTION PLANNING FOR SOCCER PLAYING HUMANOID ROBOTS." International Journal of Humanoid Robotics 05, no. 03 (September 2008): 481–99. http://dx.doi.org/10.1142/s0219843608001480.
Full textAbstract:
Motion planning for humanoids faces several challenging issues: high dimensionality of the configuration space, necessity to address balance constraints in single and double support mode, higher levels of planning for coordination of different skills, etc. While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties rarely addressed in humanoid motion planning research, as for example: dynamic environments with active opponents, the requirement to perform short- and long-term plans for performing soccer-relevant actions, and the necessity to plan movements purposely terminating with a collision with the ball. These aspects open a completely new scenario for researchers. This paper surveys state-of-the-art research in motion planning for humanoid robots with a focus on outlining connections, differences, and identifying the key aspects that ought to be addressed when developing effective humanoid soccer players.
36
Luo, Lu Ping, Chao Yuan, Gang Xue, Mei Zhi Yang, and Xue Wei Zhang. "Energy Minimization of Humanoid Robot through Combining Dynamic Power Management Method with Real-Time Scheduling Method." Applied Mechanics and Materials 799-800 (October 2015): 1045–48. http://dx.doi.org/10.4028/www.scientific.net/amm.799-800.1045.
Full textAbstract:
An approach of energy minimization in humanoid robots is proposed in our paper. The techniques of dynamic power management method and real-time scheduling method are combined to be used in the humanoid robots. The common components of humanoid robots are motors, sensors, computers and controllers and so on which are electronic systems, and humanoid robots are real-time systems. Therefore, the dynamic power management method is used to dynamically adjust power state of components adaptive to the task’s need to reduce energy consumption, and the real-time scheduling method is applied to schedule multiple tasks and meet the deadlines. Through simulation of the humanoid robot developed by our lab, the feasibility of our method is proved.
37
Takahashi, Yasutake, Hiroki Hatano, Yosuke Maida, Kazuyuki Usui, and Yoichiro Maeda. "Motion Segmentation and Recognition for Imitation Learning and Influence of Bias for Learning Walking Motion of Humanoid Robot Based on Human Demonstrated Motion." Journal of Advanced Computational Intelligence and Intelligent Informatics 19, no. 4 (July 20, 2015): 532–43. http://dx.doi.org/10.20965/jaciii.2015.p0532.
Full textAbstract:
Two main issues arise in practical imitation learning by humanoid robots observing human behavior – the first is segmenting and recognizing motion demonstrated naturally by a human beings and the second is utilizing the demonstrated motion for imitation learning. Specifically, the first involves motion segmentation and recognition based on the humanoid robot motion repertoire for imitation learning and the second introduces learning bias based on demonstrated motion in the humanoid robot’s imitation learning to walk. We show the validity of our motion segmentation and recognition in a practical way and report the results of our investigation in the influence of learning bias in humanoid robot simulations.
38
BREAZEAL, CYNTHIA, ANDREW BROOKS, JESSE GRAY, GUY HOFFMAN, CORY KIDD, HANS LEE, JEFF LIEBERMAN, ANDREA LOCKERD, and DAVID CHILONGO. "TUTELAGE AND COLLABORATION FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 01, no. 02 (June 2004): 315–48. http://dx.doi.org/10.1142/s0219843604000150.
Full textAbstract:
This paper presents an overview of our work towards building socially intelligent, cooperative humanoid robots that can work and learn in partnership with people. People understand each other in social terms, allowing them to engage others in a variety of complex social interactions including communication, social learning, and cooperation. We present our theoretical framework that is a novel combination of Joint Intention Theory and Situated Learning Theory and demonstrate how this framework can be applied to develop our sociable humanoid robot, Leonardo. We demonstrate the robot's ability to learn quickly and effectively from natural human instruction using gesture and dialog, and then cooperate to perform a learned task jointly with a person. Such issues must be addressed to enable many new and exciting applications for robots that require them to play a long-term role in people's daily lives.
39
Taira, Tetsuya, and Nobuyuki Yamasaki. "Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture." Journal of Robotics and Mechatronics 17, no. 3 (June 20, 2005): 236–47. http://dx.doi.org/10.20965/jrm.2005.p0236.
Full textAbstract:
This paper describes the development of a modular humanoid robot based on our proposed functionally distributed modular robot architecture. Our proposed architecture features three key concepts, 1) a modular humanoid robot, 2) a functionally distributed module, and 3) a transparent layered software model. Our humanoid robot is designed as a modular robot system consisting of several functionally distributed modules with exclusive mechanical parts, electronic parts, and software for elemental functions such as leg, arm, and vision. Depending on many purposes of researchers and users, our humanoid robot can be used as some kinds of humanoid robots or several autonomous robots, e.g., a wheel robot, an arm robot, or a head robot. We developed the prototype modular humanoid robot consisting of five functionally distributed modules such as two arm modules, a wheel module, a head module, and a main module for evaluating our proposed architecture.
40
Blar, Noraidah, Fairul Azni Jafar, Syahril Anuar Idris, and Mahasan Mat Ali. "A Review of Humanoid Robots Technical Characteristics in the Application for Robotic Teacher." Applied Mechanics and Materials 761 (May 2015): 158–62. http://dx.doi.org/10.4028/www.scientific.net/amm.761.158.
Full textAbstract:
Robots are not rare applications anymore due to the advanced technology today. Everyone knows robots have been used in many fields. Humanoid robots are especially desirable in human society as they can work well in indoor environments that have been designed for humans. The technical characteristics for humanoid robot teacher listed in this paper are facial expression, walking, speaking and hearing, body gestures, and vision. These characteristics are believed to be essential in every humanoid robot involved in education. Technical explanations for each characteristic are provided throughout this paper. The list of robots that can be used as a robotic teacher is also given in this paper.
41
Brooks, Rodney. "Humanoid robots." Communications of the ACM 45, no. 3 (March 2002): 33–38. http://dx.doi.org/10.1145/504729.504751.
Full text
42
KUO, CHUNG-HSIEN, HUNG-CHYUN CHOU, SHOU-WEI CHI, and YU-DE LIEN. "VISION-BASED OBSTACLE AVOIDANCE NAVIGATION WITH AUTONOMOUS HUMANOID ROBOTS FOR STRUCTURED COMPETITION PROBLEMS." International Journal of Humanoid Robotics 10, no. 03 (September 2013): 1350021. http://dx.doi.org/10.1142/s0219843613500217.
Full textAbstract:
Biped humanoid robots have been developed to successfully perform human-like locomotion. Based on the use of well-developed locomotion control systems, humanoid robots are further expected to achieve high-level intelligence, such as vision-based obstacle avoidance navigation. To provide standard obstacle avoidance navigation problems for autonomous humanoid robot researches, the HuroCup League of Federation of International Robot-Soccer Association (FIRA) and the RoboCup Humanoid League defined the conditions and rules in competitions to evaluate the performance. In this paper, the vision-based obstacle avoidance navigation approaches for humanoid robots were proposed in terms of combining the techniques of visual localization, obstacle map construction and artificial potential field (APF)-based reactive navigations. Moreover, a small-size humanoid robot (HuroEvolutionJR) and an adult-size humanoid robot (HuroEvolutionAD) were used to evaluate the performance of the proposed obstacle avoidance navigation approach. The navigation performance was evaluated with the distance of ground truth trajectory collected from a motion capture system. Finally, the experiment results demonstrated the effectiveness of using vision-based localization and obstacle map construction approaches. Moreover, the APF-based navigation approach was capable of achieving smaller trajectory distance when compared to conventional just-avoiding-nearest-obstacle-rule approach.
43
KALYANAKRISHNAN, SHIVARAM, and AMBARISH GOSWAMI. "LEARNING TO PREDICT HUMANOID FALL." International Journal of Humanoid Robotics 08, no. 02 (June 2011): 245–73. http://dx.doi.org/10.1142/s0219843611002496.
Full textAbstract:
Falls are undesirable in humanoid robots, but also inevitable, especially as robots get deployed in physically interactive human environments. We consider the problem of fall prediction: to predict if the balance controller of a robot can prevent a fall from the robot's current state. A trigger from the fall predictor is used to switch the robot from a balance maintenance mode to a fall control mode. It is desirable for the fall predictor to signal imminent falls with sufficient lead time before the actual fall, while minimizing false alarms. Analytical techniques and intuitive rules fail to satisfy these competing objectives on a large robot that is subjected to strong disturbances and exhibits complex dynamics. We contribute a novel approach to engineer fall data such that existing supervised learning methods can be exploited to achieve reliable prediction. Our method provides parameters to control the tradeoff between the false positive rate and the lead time. Several combinations of parameters yield solutions that improve both the false positive rate and the lead time of hand-coded solutions. Learned solutions are decision lists with typical depths of 5–10, in a 16-dimensional feature space. Experiments are carried out in simulation on an ASIMO-like robot.
44
Marchetti, Antonella, Federico Manzi, Shoji Itakura, and Davide Massaro. "Theory of Mind and Humanoid Robots From a Lifespan Perspective." Zeitschrift für Psychologie 226, no. 2 (April 2018): 98–109. http://dx.doi.org/10.1027/2151-2604/a000326.
Full textAbstract:
Abstract. This review focuses on some relevant issues concerning the relationship between theory of mind (ToM) and humanoid robots. Humanoid robots are employed in different everyday-life contexts, so it seems relevant to question whether the relationships between human beings and humanoids can be characterized by a mode of interaction typical of the relationships between human beings, that is, the attribution of mental states. Because ToM development continuously undergoes changes from early childhood to late adulthood, we adopted a lifespan perspective. We analyzed contributions from the literature by organizing them around the partition between “mental states and actions” and “human-like features.” Finally, we considered how studying human–robot interaction, within a ToM context, can contribute to our understanding of the intersubjective nature of this interaction.
45
Nagakubo, Akihiko, and Yasuo Kuniyoshi. "Humanoid Robots. Humanoid Interaction Research." Journal of the Robotics Society of Japan 15, no. 7 (1997): 979–82. http://dx.doi.org/10.7210/jrsj.15.979.
Full text
46
SOFGE, DONALD, MAGDALENA BUGAJSKA, J. GREGORY TRAFTON, DENNIS PERZANOWSKI, SCOTT THOMAS, MARJORIE SKUBIC, SAMUEL BLISARD, et al. "COLLABORATING WITH HUMANOID ROBOTS IN SPACE." International Journal of Humanoid Robotics 02, no. 02 (June 2005): 181–201. http://dx.doi.org/10.1142/s0219843605000442.
Full textAbstract:
One of the great challenges of putting humanoid robots into space is developing cognitive capabilities for the robots with an interface that allows human astronauts to collaborate with the robots as naturally and efficiently as they would with other astronauts. In this joint effort with NASA and the entire Robonaut team, we are integrating natural language and gesture understanding, spatial reasoning incorporating such features as human–robot perspective taking, and cognitive model-based understanding to achieve a high level of human–robot interaction. Building greater autonomy into the robot frees the human operator(s) from focusing strictly on the demands of operating the robot, and instead allows the possibility of actively collaborating with the robot to focus on the task at hand. By using shared representations between the human and robot, and enabling the robot to assume the perspectives of the human, the humanoid robot may become a more effective collaborator with a human astronaut for achieving mission objectives in space.
47
Martín, Francisco, Carlos E. Agüero, and José M. Cañas. "Active Visual Perception for Humanoid Robots." International Journal of Humanoid Robotics 12, no. 01 (March 2015): 1550009. http://dx.doi.org/10.1142/s0219843615500097.
Full textAbstract:
Robots detect and keep track of relevant objects in their environment to accomplish some tasks. Many of them are equipped with mobile cameras as the main sensors, process the images and maintain an internal representation of the detected objects. We propose a novel active visual memory that moves the camera to detect objects in robot's surroundings and tracks their positions. This visual memory is based on a combination of multi-modal filters that efficiently integrates partial information. The visual attention subsystem is distributed among the software components in charge of detecting relevant objects. We demonstrate the efficiency and robustness of this perception system in a real humanoid robot participating in the RoboCup SPL competition.
48
Zhang, Tianwei, and Yoshihiko Nakamura. "Humanoid Robot RGB-D SLAM in the Dynamic Human Environment." International Journal of Humanoid Robotics 17, no. 02 (February 12, 2020): 2050009. http://dx.doi.org/10.1142/s0219843620500097.
Full textAbstract:
Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as moving obstacles and targets in humanoid robots working space. Thus, in this paper, we propose a robust dense RGB-D SLAM approach for the humanoid robots working in the dynamic human environments. To deal with the dynamic human objects, a deep learning-based human detector is combined in the proposed method. After the removal of the dynamic object, we fast reconstruct the static environments through a dense RGB-D point clouds fusion framework. In addition to the humanoid robot falling problem, which usually results in visual sensing discontinuities, we propose a novel point clouds registration-based method to relocate the robot pose. Therefore, our robot can continue the self localization and mapping after the falling. Experimental results on both the public benchmarks and the real humanoid robot SLAM experiments indicated that the proposed approach outperformed state-of-the-art SLAM solutions in dynamic human environments.
49
BELAIDI, Hadjira, and Hamid BENTARZI. "Humanoid Robot, What is missing?" Algerian Journal of Signals and Systems 3, no. 2 (June 1, 2018): 89–95. http://dx.doi.org/10.51485/ajss.v3i2.63.
Full textAbstract:
A humanoid robot is now a reality, which has been very developed. It can do almost all tasks that either the human can do or not as well as the dangerous tasks. The researchers recently develop robots, which can see, smell, smile, speak, touch, walk and talk using the more advanced technological tools such as computer aided design. However, these humanoid robots cannot react as human, so what is missing?, what is about the spirit? Does robot have the spirit? This paper answers these questions and presents imperfection of humanoid robot.
50
Ferreira, João P., Guilherme Franco, A. Paulo Coimbra, and Manuel Crisóstomo. "Human-Like Gait Adaptation to Slippery Surfaces for the NAO Robot Wearing Instrumented Shoes." International Journal of Humanoid Robotics 17, no. 03 (February 4, 2020): 2050007. http://dx.doi.org/10.1142/s0219843620500073.
Full textAbstract:
Gait development for bipedal/humanoid robots has been a field of study with a lot of attention for several years and is becoming increasingly important as robots slowly become part of our daily lives. Therefore, it is expectable that robots should adopt human-like behaviors in order to make their interactions with humans more natural and studies have been made involving robots that have a natural, human-like gait. However, very few focus on scenarios with slippery floors. In this paper, the humanoid robot NAO is used and the effects of a human-based walking pattern on the robot’s balance when walking on floors with different slipperiness degrees were analyzed. The simulations are done having the robot equipped with specially developed shoes that enable the measurement of the friction coefficient. From that analysis, an algorithm that automatically adapts the gait parameters to the floor’s slipperiness was developed, in order to prevent the robot from suffering unexpected disturbances and possibly falling over. This paper focusses on preventing balance disturbances, instead of correcting them.