Relevant bibliographies by topics / Modeling a humanoid robot

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Academic literature on the topic 'Modeling a humanoid robot'

Author: Grafiati
Published: 5 June 2025
Last updated: 24 June 2025

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Journal articles on the topic "Modeling a humanoid robot"

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Asthana, Shefalika, Srikanth R. Karna, and Irine Ann Shelby. "Amaranthine: Humanoid Robot Kinematics." International Journal of High Speed Electronics and Systems 29, no. 01n04 (2020): 2040015. http://dx.doi.org/10.1142/s0129156420400157.

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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.
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VELOSO, MANUELA, NICHOLAS ARMSTRONG-CREWS, SONIA CHERNOVA, et al. "A TEAM OF HUMANOID GAME COMMENTATORS." International Journal of Humanoid Robotics 05, no. 03 (2008): 457–80. http://dx.doi.org/10.1142/s0219843608001479.

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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.
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Zhu, Zhen Chao, Zhen Sui, Yan Tao Tian, and Hong Jiang. "Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait." Applied Mechanics and Materials 461 (November 2013): 903–7. http://dx.doi.org/10.4028/www.scientific.net/amm.461.903.

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Considering the sagittal movement and the lateral swing in the humanoid practical walking, a new humanoid passive dynamic bipedal robot with the lateral movable upper body is proposed in this paper. The finite state machine (FSM) theory is adopted to control the robot, which changes agilely the control strategy according to the practical states of the humanoid gait. In the method, the torque compensation adaptive excitation control strategy is used for sagittal control and PID is applied to the upper body for the robots lateral stability. It is verified by the co-simulation based on ADAMS and MATLAB that the bipedal robot can reach the stable humanoid gait with the high energy efficiency.
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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 (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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Yanto, Luky, Raden Sanggar Dewanto, Dadet Pramadihanto, and Eko Henfri Binugroho. "Teen-Size Humanoid “FLoW” Complete Analytical Kinematics." EMITTER International Journal of Engineering Technology 5, no. 2 (2018): 298–311. http://dx.doi.org/10.24003/emitter.v5i2.233.

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Humanoid research in Indonesia is quite a lot, but in reality only limited in kid-size proportional size, while for the Teen-Size is still rare. Research on the Teen-Size Humanoid robot requires more joints to be able to perform the movement compared to the size of Kid-Size, therefore required more complex modeling to determine the movement. With complete kinematics anlysis, the movement of the robot can be solved. With kinematic forward-invers, researchers can determine the movement of robots by controlling the motor parts that function as a joint on the robot. In this study, the modeling uses D-H parameter, because this modeling has been widely used, besides the calculation can be solved by computing. And then for the simulation can be done with V-REP software. Forward-invers kinematics can be implemented on the PID algorithm, in order to generate speed on the motor that can form an angle on the motor to make the movement. The result of this research is to obtain equation of matrix transformation from all body parts of robot. With the creation of this Humanoid Teen-Size robot, it is hoped that the research on Humanoid robot in Indonesia will be increasingly diverse and increasing, and can be used as a support and reference in the development of Humanoid Teen-Size next.
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Chukwuagu, M. I., and E.C. Aneke. "ARTIFICIAL INTELLIGENT BASED AUTOMATIC PATH FINDING AND COMPUTATIONAL COMPLEXITY REDUCTION ROBOT USING PREWITT EDGE DETECTION PARADIGM." International Journal of Novel Research in Computer Science and Software Engineering 9, no. 3 (2022): 1–15. https://doi.org/10.5281/zenodo.7360533.

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<strong>Abstract:</strong> Humanoid Robots are enormously complex and that is why the research on humanoids spreads out over all kinds of scientific fields, from mechanics to electronics, from modeling to control and from informatics to biomechanics. This research paper is concerned with the development of a humanoid robot using edge detection technique. In the design process, the model of a humanoid robot was developed first using the simulink library tools in Matlab/Simulink environment. The guassian block convolved the input matrix with the Prewitt kernel and the block outputs two gradient components of the image, the block also performed a thresholding operation on the gradient magnitudes and output a binary image, which is a matrix of Boolean values. During the development of the humanoid robot an object orientated method was employed. Odometry and landmark method was employed in the navigation of the humanoid system. Sample of robot in ordinary form and also in edge detection form was collected and experimented in paint graphics using Portable Network Graphics format. Both of the two samples were scaled to 300X300 in dimension, and also 300X300 pixels with respect to width and height, bit depth as 32 and result showed that the computational size of the ordinary robot was 90.1kb and that of the prewitt edge detection was 16.6kb using Portable Network Graphics. This amounts to 81.58 percentage improvement. The same sample was also collected for canny edge detector and Sobel edge detector and experimented using paint graphics and their computational sizes were recorded as 19.5kb and 29.0kb respectively. This proves that prewitt edge detector is computationally cheaper than Canny as reviewed in (Karl, 2016) which either too much noise observed or too many information omitted. <strong>Keywords:</strong> Humanoid robot, Motorized robot, modeling a humanoid robot, Robot obstacle avoidance, Prewitt edge detection, Method of navigation, Robot in canny edge detection, Robot in Roberts edge, Robot in prewitt edge detection form. <strong>Title:</strong> ARTIFICIAL INTELLIGENT BASED AUTOMATIC PATH FINDING AND COMPUTATIONAL COMPLEXITY REDUCTION ROBOT USING PREWITT EDGE DETECTION PARADIGM <strong>Author:</strong> Chukwuagu M. I, Aneke E.C. <strong>International Journal of Novel Research in Computer Science and Software Engineering</strong> <strong>ISSN 2394-7314</strong> <strong>Vol. 9, Issue 3, September 2022 - December 2022</strong> <strong>Page No: 1-15</strong> <strong>Novelty Journals</strong> <strong>Website: www.noveltyjournals.com</strong> <strong>Published Date: 25-November-2022</strong> <strong>DOI: https://doi.org/10.5281/zenodo.7360533</strong> <strong>Paper Download Link (Source)</strong> <strong>https://www.noveltyjournals.com/upload/paper/ARTIFICIAL%20INTELLIGENT%20BASED%20AUTOMATIC-25112022-2.pdf</strong>
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TORTA, ELENA, RAYMOND H. CUIJPERS, JAMES F. JUOLA, and DAVID VAN DER POL. "MODELING AND TESTING PROXEMIC BEHAVIOR FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 09, no. 04 (2012): 1250028. http://dx.doi.org/10.1142/s0219843612500284.

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Humanoid robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behavior-based robotic architecture that (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the users personal space (PS) by choosing the appropriate distance and direction of approach. The model of the PS is derived from human–robot interaction tests, and it is described in a convenient mathematical form. The robot's target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioral architecture shows that the robot is able to exhibit appropriate proxemic behavior.
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Muscolo, G. G., C. T. Recchiuto, and R. Molfino. "Dynamic balance optimization in biped robots: Physical modeling, implementation and tests using an innovative formula." Robotica 33, no. 10 (2014): 2083–99. http://dx.doi.org/10.1017/s0263574714001301.

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SUMMARYIn this paper, an analytical formula for the determination of the center of mass position in humanoid platforms is proposed and tested in a real humanoid robot. The formula uses the force-torque values obtained by the two force-torque sensors applied on the feet of the robot and the measured currents required from the motors to maintain balance as inputs. The proposed formula outputs the real center of mass position that minimizes the errors between real humanoid robots and virtual models. Data related to the Zero Moment Point positions and to the joint movements are compared with the target values, showing how the application of the proposed formula enables achieving better repeatability and predictability of the static and dynamic robot behaviour.
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Wang, Hongxing, LianZheng Ge, Ruifeng Li, Yunfeng Gao, and Chuqing Cao. "Motion optimization of humanoid mobile robot with high redundancy." Assembly Automation 41, no. 2 (2021): 155–64. http://dx.doi.org/10.1108/aa-06-2020-0083.

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Purpose An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling. Design/methodology/approach The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized. Findings Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process. Research limitations/implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Practical implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Social implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Originality/value Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.
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Vladyslav, Yevsieiev, Abu-Jassar Amer, and Maksymova Svitlana. "Humanoid Robot Movement Simulation in ROS." Multidisciplinary Journal of Science and Technology 4, no. 7 (2024): 146–54. https://doi.org/10.5281/zenodo.12735166.

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This article examines the task of humanoid robot movement forward and backward simulating in ROS RViz core. The main research lies in the creation and testing of programs to ensure a stable and smooth movement of the robot along a given trajectory. Based on the capabilities of ROS, a system of hand-washing was implemented as a way of balance and stabilization. The results of the simulation demonstrate the effectiveness of the fragmented program and its production exactly follow the markers installed in the virtual middle. The study reinforces the importance of ROS for the modeling and testing of collaborative robots in the context of Industry 5.0, where interactions between people and robots are of key importance
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Dissertations / Theses on the topic "Modeling a humanoid robot"

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Joachimbauer, Florian. "Concise Modeling of Humanoid Dynamics." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094.

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Simulation of mechanical systems like walking robots, is an essential part in developingnew and more applicable solutions in robotics. The increasing complexity of methodsand technologies is a key challenge for common languages. That problem creates a needfor flexible and scalable languages. The thesis concludes that an equation-based toolusing the Euler-Lagrange can simplify the process cycle of modeling and simulation. Itcan minimize the development effort, if the tool supports derivatives. Regretfully, it isnot common to use equation-based tools with this ability for simulation of humanoidrobots.The research in this thesis illustrates the comparison of equation-based tools to commonused tools. The implementation uses the Euler-Lagrange method to model andsimulate nonlinear mechanical systems. The focus of this work is the comparison ofdifferent tools, respectively the development of a humanoid robot in a stepwise mannerbased on the principle of passive walking. Additionally, each developed model has givenan informal argument to its stability. To prove the correctness of the thesis statementthe equation-based tool called Acumen is evaluated in contrast to a common used tool,MATLAB.Based on the achieved results, it can be concluded that the use of equation-based toolsusing Euler-Lagrange formalism is convenient and scalable for humanoid robots. Additionally,the development process is significantly simplified by the advantages of suchtools. Due to the experimental nature of Acumen further research could investigatethe possibilities for different mechanical systems as well as other techniques.
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Narsipura, Sreenivasa Manish. "Modeling of human movement for the generation of humanoid robot motion." Thesis, Toulouse, INPT, 2010. http://www.theses.fr/2010INPT0120/document.

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La robotique humanoïde arrive a maturité avec des robots plus rapides et plus précis. Pour faire face à la complexité mécanique, la recherche a commencé à regarder au-delà du cadre habituel de la robotique, vers les sciences de la vie, afin de mieux organiser le contrôle du mouvement. Cette thèse explore le lien entre mouvement humain et le contrôle des systèmes anthropomorphes tels que les robots humanoïdes. Tout d’abord, en utilisant des méthodes classiques de la robotique, telles que l’optimisation, nous étudions les principes qui sont à la base de mouvements répétitifs humains, tels que ceux effectués lorsqu’on joue au yoyo. Nous nous concentrons ensuite sur la locomotion en nous inspirant de résultats en neurosciences qui mettent en évidence le rôle de la tête dans la marche humaine. En développant une interface permettant à un utilisateur de commander la tête du robot, nous proposons une méthode de contrôle du mouvement corps-complet d’un robot humanoïde, incluant la production de pas et permettant au corps de suivre le mouvement de la tête. Cette idée est poursuivie dans l’étude finale dans laquelle nous analysons la locomotion de sujets humains, dirigée vers une cible, afin d’extraire des caractéristiques du mouvement sous forme invariants. En faisant le lien entre la notion “d’invariant” en neurosciences et celle de “tâche cinématique” en robotique humanoïde, nous développons une méthode pour produire une locomotion réaliste pour d’autres systèmes anthropomorphes. Dans ce cas, les résultats sont illustrés sur le robot humanoïde HRP2 du LAAS-CNRS. La contribution générale de cette thèse est de montrer que, bien que la planification de mouvement pour les robots humanoïdes peut être traitée par des méthodes classiques de robotique, la production de mouvements réalistes nécessite de combiner ces méthodes à l’observation systématique et formelle du comportement humain<br>Humanoid robotics is coming of age with faster and more agile robots. To compliment the physical complexity of humanoid robots, the robotics algorithms being developed to derive their motion have also become progressively complex. The work in this thesis spans across two research fields, human neuroscience and humanoid robotics, and brings some ideas from the former to aid the latter. By exploring the anthropological link between the structure of a human and that of a humanoid robot we aim to guide conventional robotics methods like local optimization and task-based inverse kinematics towards more realistic human-like solutions. First, we look at dynamic manipulation of human hand trajectories while playing with a yoyo. By recording human yoyo playing, we identify the control scheme used as well as a detailed dynamic model of the hand-yoyo system. Using optimization this model is then used to implement stable yoyo-playing within the kinematic and dynamic limits of the humanoid HRP-2. The thesis then extends its focus to human and humanoid locomotion. We take inspiration from human neuroscience research on the role of the head in human walking and implement a humanoid robotics analogy to this. By allowing a user to steer the head of a humanoid, we develop a control method to generate deliberative whole-body humanoid motion including stepping, purely as a consequence of the head movement. This idea of understanding locomotion as a consequence of reaching a goal is extended in the final study where we look at human motion in more detail. Here, we aim to draw to a link between “invariants” in neuroscience and “kinematic tasks” in humanoid robotics. We record and extract stereotypical characteristics of human movements during a walking and grasping task. These results are then normalized and generalized such that they can be regenerated for other anthropomorphic figures with different kinematic limits than that of humans. The final experiments show a generalized stack of tasks that can generate realistic walking and grasping motion for the humanoid HRP-2. The general contribution of this thesis is in showing that while motion planning for humanoid robots can be tackled by classical methods of robotics, the production of realistic movements necessitate the combination of these methods with the systematic and formal observation of human behavior
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Dallali, Houman. "Modelling and dynamic stabilisation of a compliant humanoid robot, CoMan." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/modelling-and-dynamic-stabilisation-of-a-compliant-humanoid-robot-coman(474662c6-8f0a-4f21-9504-5c49cb509231).html.

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This dissertation presents the results of a series of studies on dynamic stabilisation of CoMan, which is actuated by series elastic actuators. The main goal of this dissertation is to dynamically stabilise the humanoid robot on the floor by the simplest multivariate feedback control for the purpose of walking. The multivariable scheme is chosen to take into account the joints' interactions, as well as providing a systematic way of designing the feedback system to improve the bandwidth and tracking performance of CoMan's existing PID control. A detailed model is derived which includes all the motors and joints state variables and their multibody interactions which are often ignored in the previous studies on bipedal robots in the literature. The derived dynamic model is then used to design multivariable optimal control feedback and observers with a mathematical proof for the relative stability and robustness of the closed loop system in face of model uncertainties and disturbances. In addition, two decentralized optimal feedback design algorithms are presented that explicitly take the compliant dynamics and the multibody interactions into account while providing the mathematical proof for the stability of the overall system. The purpose of the proposed decentralized control methods is to provide a systematic model based PDPID design to replace the existing PID controllers which are derived by a trial and error process. Moreover, the challenging constrained and compliant motion of the robot in double support is studied where a novel constrained feedback design is proposed which directly takes the compliance dynamics, interactions and the constraints into account to provide a closed loop feedback tracking system that drives the robot inside the constrained subspace. This method of control is particularly interesting since most control methods applied to closed kinematic chains (such as the double support phase) are over complicated for implementation purposes or have an ad-hoc approach to controller design. In terms of walking trajectory generation, an extension to the ZMP walking trajectory generation is proposed to utilise the CoMan's upper body to tackle the non-minimum phase behaviour that is faced in trajectory generation. Simple inverted pendulum models of walking are then used to study the maximum feasible walking speed and step size where parameters of CoMan are used to provide numerical upperbounds on the step size and walking speed. Use of straight knee and toe push-off during walking is shown to be beneficial for taking larger step lengths and hence achieving faster walking speeds. Subsequently, the designed tracking systems are then applied to a dynamic walking simulator which is developed during this PhD project to accurately model the compliant walking behaviour of the CoMan. A walking gait is simulated and visualized to show the effectiveness of the developed walking simulator. Moreover, the experimental results and challenges faced during the implementation of the designed tracking control systems are discussed where it is shown that the LQR feedback results in 50% less control effort and tracking errors in comparison with CoMan's existing independent PID control. This advantage directly affects the feasible walking speed. In addition, a set of standard and repeatable tests for CoMan are designed to quantify and compare the performance of various control system designs. Finally, the conclusions and future directions are pointed out.
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Cotton, Sébastien. "Modélisation, dynamique et estimation du centre de masse de robots humanoïdes." Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20018/document.

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Avant de pouvoir interagir avec l'homme, les robots humanoïdes doivent encore être largement améliorés, tant au niveau de leur modélisation, de leur commande que de leur conception. Contrairement aux robots manipulateurs la notion de centre de masse est prédominante chez les robots humanoïdes et sera au centre de la gestion de leur équilibre. C'est donc dans ce cadre que s'inscrit cette thèse dont le but est de proposer une modélisation précise du centre de masse des robots humanoïdes dont la complexité ne cesse d'augmenter. En effet les modèles utilisés aujourd'hui pour définir la trajectoire du centre de masse sont des modèles simplifiés des robots humanoïdes. Les travaux de cette thèse s'articulent autour de trois contributions majeures : la modélisation cinématique et dynamique ainsi que l'estimation du centre de masse de robots humanoïdes. La première contribution propose une transformation de la structure arborescente de l'humanoïde en une chaîne virtuelle série localisant son centre de masse et permettant une commande cinématique adaptée de ce dernier. La dynamique du robot est ensuite exprimée en son centre de masse permettant ainsi une description exacte de ses accélérations. À ce titre, le concept de manipulabilité dynamique du centre de masse est introduit. Enfin grâce à la modélisation sous forme de chaîne virtuelle, une méthodologie qui s'impose aujourd'hui comme référence dans le domaine de l'estimation du centre de masse chez l'humain est proposée. De nombreuses expérimentations illustrent tout au long de cette thèse l'application et l'utilité de ces travaux<br>Before they can interact with men, humanoid robots must be strongly enhanced in their modeling, their control and their design. Contrary to manipulator robots, the notion of center of mass is predominant in humanoid robots and will be central to the management of their balance. In this context, this thesis aims to provide accurate modeling of the center of mass of humanoid robots, whose complexity is increasing. Indeed, the models used today to determine the trajectory of center of mass are simplified models of humanoid robots. The works of this thesis revolve around three major contributions : kinematics and dynamics modeling as well as the estimation of the center of mass of humanoid robots. The first part proposes a transformation of the tree structure of the humanoid in a virtual serial chain locating its center of mass and allowing an adapted control of the latter. The dynamics of the robot is then expressed in the center of mass space allowing an accurate description of its acceleration. As such, the concept of dynamic manipulability of the center of mass is introduced. Finally, through the modeling in a virtual chain, a methodology that is today a reference in the field of center of mass estimation in humans is proposed. Many experiments show throughout this thesis the application and usefulness of this work
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Schmitz, Norbert [Verfasser]. "Dynamic Modeling of Communication Partners for Socially Interactive Humanoid Robots / Norbert Schmitz." München : Verlag Dr. Hut, 2011. http://d-nb.info/1013526635/34.

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Tayba, Ahmad. "Amélioration de la partie supérieure du robot HYDROïD pour les tâches bi-manuelles et la manipulation." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV102/document.

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Ma thèse vise à contribuer au développement et l’amélioration de la cinématique de la partie supérieure du robot HYDROïD pour des tâches bi-manuelles, tout en basant sur une étude biomécanique de cette partie chez l’être humain.Pour atteindre notre objectif majeur, ce travail adopte dans un premier temps une nouvelle structure hybride de 4 degrés de liberté (ddl) pour le torse du robot, distribués en 3 ddl au niveau lombaire et un ddl au niveau thoracique. Cette structure était identifiée après une analyse de l’espace de travail d’un modèle multi-corps simulant la colonne vertébrale d’un être humain, et une étude d’optimisation de ce modèle permettant la synthèse de la structure envisagée.Dans un second temps, une amélioration de la cinématique du bras du robot a été mise en place, en introduisant la notion de l’épaule complexe au présente structure. Le choix de ce nouveau degré de liberté était le fruit d’une approche systématique pour augmenter l’anthropomorphisme géométrie du bras souhaité vers un bras humain de la même taille.Les 2 structures proposées ont passé par la suite par la phase de conception mécanique tout en respectant les contraintes géométriques et en se basant sur l’énergie hydraulique comme étant l’énergie d’ actionnement de ces systèmes. Enfin, le Modèle Géometrique Inverse (MGI) pour la solution générique du torse a été établi et son adaptation à notre cas particulier a été identifiée. Une solution optimisée pour ce mécanisme basée sur 2 différents critères a ensuite été donnée<br>My thesis aims at contributing to the development and improvement of the upper body of HYDROïD robot for bi-manual tasks, while basing on a bio-mechanical study of this part of the human being. To reach our major goal, this work adopts, at first, a novel hybrid structure of 4 degrees of freedom (DOF) for the trunk of the robot, distributed in three DOF at the lumbar level and one DOF at the thoracic level. This structure was identified after an analysis of the work-space of a multi-body model feigning the vertebral column of a human being, and an optimization study of that model allowing the synthesis of the envisaged structure. Secondly, an improvement of the kinematics of the robor arm was organized, by introducing the notion of the shoulder complex in the present structure. The choice of this new degree of freedom was the fruit of a systematic approach to increase the anthropomorphism geometry of the arm wished towards a humanitarian arm of the same size.The two proposed structures crossed afterward by the mechanical design phase while respecting all the geometrical constraints and by using the hydraulic energy as being the type of actuation of these systems. Finally, the Inverse Geometrical Model (IGM) for the generic solution of the trunk was established and its adaptation to our particular case was identified. An optimized solution for this mechanism based on 2 various criteria was then given
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Foissotte, Torea. "Modelisation Visuelle d'un Objet Inconnu par un Robot Humanoide Autonome." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2010. http://tel.archives-ouvertes.fr/tel-00800714.

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Ce travail est focalisé sur le problème de la construction autonome du modèle 3D d'un objet inconnu en utilisant un robot humanoïde. Plus particulièrement, nous considérons un HRP-2 guidé par la vision au sein d'un environnement connu qui peut contenir des obstacles. Notre méthode considère les informations visuelles disponibles, les contraintes sur le corps du robot ainsi que le modèle de l'environnement dans le but de générer des postures adéquates et les mouvements nécessaires autour de l'objet. Le problème de sélection de vue ("Next-Best-View") est abordé en se basant sur un générateur de postures qui calcule une configuration par la résolution d'un problème d'optimisation. Une première solution est une approche locale où un algorithme de rendu original à été conçu afin d'être inclut directement dans le générateur de postures. Une deuxième solution augmente la robustesse aux minimums locaux en décomposant le problème en 2 étapes: (i) trouver la pose du capteur tout en satisfaisant un ensemble de contraintes réduit, et (ii) calculer la configuration complète du robot avec le générateur de posture. La première étape repose sur des méthodes d'optimisation globale et locale (BOBYQA) afin de converger vers des points de vue pertinents dans des espaces de configuration admissibles non convexes. Notre approche est testée en conditions réelles par le biais d'une architecture cohérente qui inclus différents composants logiciels spécifique à l'usage d'un humanoïde. Ces expériences intègrent des travaux de recherche en cours en planification de mouvements, contrôle de mouvements et traitement d'image, qui pourront permettre de construire de façon autonome le modèle 3D d'un objet.
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Yu, Weiwei. "Contribution to study and implementation of intelligent adaptive control strategies : application to control of complex dynamic systems." Phd thesis, Université Paris-Est, 2011. http://tel.archives-ouvertes.fr/tel-00665586.

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The main limitation of the CMAC (Cerebellar Model Articulation Controller) network in realistic applications for complex automated systems (robots, automated vehicles, etc...) is related to the required memory size. It is pertinent to remind that the memory used by CMAC depends firstly on the input signal quantification step and secondly on the input space dimension. For real CMAC based control applications, on the one hand, in order to increase the accuracy of the control the chosen quantification step must be as small as possible; on the other hand, generally the input space dimension is greater than two. In order to overcome the problem relating the memory size, how both the generalization and step quantization parameters may influence the CMAC's approximation quality has been discussed. Our goal is to find an optimal CMAC structure for complex dynamic systems' control. Biped robots and Flight control design for airbreathing hypersonic vehicles are two actual areas of such systems. We have applied the investigated concepts on these two quite different areas. The presented simulation results show that an optimal or sub-optimal structure carrying out a minimal modeling error could be achieved. The choice of an optimal structure allows decreasing the memory size and reducing the computing time as well
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Maier, Daniel [Verfasser], and Maren [Akademischer Betreuer] Bennewitz. "Camera-based humanoid robot navigation." Freiburg : Universität, 2015. http://d-nb.info/1119452082/34.

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Venkatayogi, Chandana. "Simulation of a Humanoid Robot." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195575304.

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Books on the topic "Modeling a humanoid robot"

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Spiers, Adam, Said Ghani Khan, and Guido Herrmann. Biologically Inspired Control of Humanoid Robot Arms. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30160-0.

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Spong, Mark W. Robot modeling and control. John Wiley & Sons, 2006.

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Seth, Hutchinson, and Vidyasagar M. 1947-, eds. Robot modeling and control. John Wiley & Sons, 2005.

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Bruno, Siciliano, ed. Modeling and control of robot manipulators. McGraw-Hill, 1996.

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Azad, Pedram. Visual Perception for Manipulation and Imitation in Humanoid Robots. Springer-Verlag Berlin Heidelberg, 2009.

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Dombre, Etienne, and Wisama Khalil, eds. Modeling, Performance Analysis and Control of Robot Manipulators. ISTE, 2007. http://dx.doi.org/10.1002/9780470612286.

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E, Dombre, and Khalil W, eds. Modeling, performance analysis and control of robot manipulators. ISTE, 2007.

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Ciszewski, Michał, Mariusz Giergiel, Tomasz Buratowski, and Piotr Małka. Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-42715-3.

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1954-, Freeman Robert Arthur, Tesar Delbert, and United States. National Aeronautics and Space Administration., eds. Modeling and simulation of a Stewart Platform type parallel structure robot. University of Texas at Austin, Mechanical Engineering Dept., 1989.

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Pal, Rajarshi. Innovative research in attention modeling and computer vision applications. Information Science Reference, 2016.

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Book chapters on the topic "Modeling a humanoid robot"

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Pardos, J. M., and C. Balaguer. "Humanoid Robot Kinematics Modeling Using Lie Groups." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_56.

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Brygo, Anais, Ioannis Sarakoglou, Nadia Garcia-Hernandez, and Nikolaos Tsagarakis. "Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback." In Haptics: Neuroscience, Devices, Modeling, and Applications. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44196-1_33.

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Chella, Antonio, Giovanni Pilato, Rosario Sorbello, Giorgio Vassallo, Francesco Cinquegrani, and Salvatore Maria Anzalone. "An Emphatic Humanoid Robot with Emotional Latent Semantic Behavior." In Simulation, Modeling, and Programming for Autonomous Robots. Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-89076-8_24.

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Gouraguine, Soukaina, Intissar Salhi, Mustapha Riad, Mohammed Qbadou, and Khalifa Mansouri. "Towards a Humanoid Teaching Assistant-Robot-Primitives Knowledge Modeling." In Proceedings of the 8th International Conference on Advanced Intelligent Systems and Informatics 2022. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-20601-6_66.

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Müller, Judith, Tim Laue, and Thomas Röfer. "Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots." In RoboCup 2010: Robot Soccer World Cup XIV. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-20217-9_10.

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Wang, L., Y. Zhao, M. O. Tokhi, and S. C. Gharooni. "Modeling and Simulation of Humanoid Stair Climbing." In Climbing and Walking Robots. Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_8.

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Xiong, Jiaming, Dingkun Liang, Xin Wang, Yongshan Huang, Anhuan Xie, and Jason Gu. "Nonsmooth Dynamic Modeling of a Humanoid Robot with Parallel Mechanisms." In Intelligent Robotics and Applications. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-6492-5_26.

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Kahraman, Cengiz, Eda Bolturk, Sezi Cevik Onar, and Basar Oztaysi. "Modeling Humanoid Robots Using Fuzzy Set Extensions." In Toward Humanoid Robots: The Role of Fuzzy Sets. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-67163-1_3.

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Spiers, Adam, Said Ghani Khan, and Guido Herrmann. "Neural Network Motion Learning by Observation for Task Modelling and Control." In Biologically Inspired Control of Humanoid Robot Arms. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30160-0_10.

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Ishiguro, Hiroshi. "Studies on Humanlike Robots – Humanoid, Android and Geminoid." In Simulation, Modeling, and Programming for Autonomous Robots. Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-89076-8_2.

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Conference papers on the topic "Modeling a humanoid robot"

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Sorrentino, Ines, Giulio Romualdi, Fabio Bergonti, Giuseppe L’Erario, Silvio Traversaro, and Daniele Pucci. "Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives." In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids). IEEE, 2024. https://doi.org/10.1109/humanoids58906.2024.10769966.

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Nguyen, Thanh D. V., Vincent Bonnet, Pierre Fernbach, Thomas Flayols, and Florent Lamiraux. "Improving Operational Accuracy of a Mobile Manipulator by Modeling Geometric and Non-Geometric Parameters." In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids). IEEE, 2024. https://doi.org/10.1109/humanoids58906.2024.10769790.

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Messina, Giuseppe, Yuri Filistad, and Corrado Santoro. "A.I. at the Edge of the Edge: Intelligent Sensor Falling Detection for Humanoid Robot." In 2025 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). IEEE, 2025. https://doi.org/10.1109/simpar62925.2025.10979181.

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Al Karaki, Mohammad Ibrhaim, and Ihab Elaff. "Modelling Humanoid Robot Audition for Sound Source Localization Using Artifical Neural Network." In 2025 7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (ICHORA). IEEE, 2025. https://doi.org/10.1109/ichora65333.2025.11017196.

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Ming Cong, Zhanbo Chang, Yu Du, and Weiliang Xu. "Modeling and simulation of masticatory robot." In 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010). IEEE, 2010. http://dx.doi.org/10.1109/ichr.2010.5686300.

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Coltin, Brian, Somchaya Liemhetcharat, Cetin Mericli, Junyun Tay, and Manuela Veloso. "Multi-humanoid world modeling in Standard Platform robot soccer." In 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2010). IEEE, 2010. http://dx.doi.org/10.1109/ichr.2010.5686314.

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Meghdari, Ali, Saeed Sohrabpour, Seyed Ali Nezamoddini, Ehsan Fakhar Izadi, Seyed Hossein Tamaddoni, and Ehsan Basafa. "Dynamics Modeling of a Humanoid Robot." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASME, 2005. http://dx.doi.org/10.1115/detc2005-84446.

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Mittendorfer, Philipp, Emmanuel Dean, and Gordon Cheng. "Automatic robot kinematic modeling with a modular artificial skin." In 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014). IEEE, 2014. http://dx.doi.org/10.1109/humanoids.2014.7041447.

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Hernández-Santos, C., E. Rodriguez-Leal, R. Soto, and J. L. Gordillo. "Modeling and Simulation of a Novel 16-DOF Humanoid Biped Robot." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70642.

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Humanoid biped robots are typically complex in design, having numerous degrees-of-freedom (DOF) due to the ambitious goal of mimicking the human gait. This paper presents the forward kinematics and dynamics of a new sixteen DOF humanoid biped robot. The synthesis of the kinematic chains is based on human body parameters in terms of ratios, range of motion, and physical length. The paper proposes a new architecture for a biped robot with seven DOF per each leg, adding one DOF that imitates the toe joint. The dynamic model is approached by dividing the legs into the sagittal and frontal planes, which simplifies the mathematical model by further applying the principle of Lagrangian dynamics. The paper contains several simulations and numerical examples to prove the analytical results.
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Jingguo Wang and Yangmin Li. "Dynamic modeling of a mobile humanoid robot." In 2008 IEEE International Conference on Robotics and Biomimetics. IEEE, 2009. http://dx.doi.org/10.1109/robio.2009.4913076.

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Reports on the topic "Modeling a humanoid robot"

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Scassellati, Brian. Theory of Mind for a Humanoid Robot. Defense Technical Information Center, 2000. http://dx.doi.org/10.21236/ada434754.

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Sofge, D., Dennis Perzanowski, M. Skubic, et al. Achieving Collaborative Interaction with a Humanoid Robot. Defense Technical Information Center, 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, 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, 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. Defense Technical Information Center, 2006. http://dx.doi.org/10.21236/ada450328.

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Scassellati, Brian. Investigating Models of Social Development Using a Humanoid Robot. Defense Technical Information Center, 1998. http://dx.doi.org/10.21236/ada434679.

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Varshavskaya, Paulina. Behavior-Based Early Language Development on a Humanoid Robot. Defense Technical Information Center, 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. Defense Technical Information Center, 2005. http://dx.doi.org/10.21236/ada434150.

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Metta, Giorgio. An Attentional System for a Humanoid Robot Exploiting Space Variant Vision. Defense Technical Information Center, 2001. http://dx.doi.org/10.21236/ada434729.

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Aryananda, Lijin. Online and Unsupervised Face Recognition for Humanoid Robot: Toward Relationship with People. Defense Technical Information Center, 2001. http://dx.doi.org/10.21236/ada457181.

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