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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
3
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
5
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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Rucinski, Marek. "Modelling learning to count in humanoid robots." Thesis, University of Plymouth, 2014. http://hdl.handle.net/10026.1/2995.
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This thesis concerns the formulation of novel developmental robotics models of embodied phenomena in number learning. Learning to count is believed to be of paramount importance for the acquisition of the remarkable fluency with which humans are able to manipulate numbers and other abstract concepts derived from them later in life. The ever-increasing amount of evidence for the embodied nature of human mathematical thinking suggests that the investigation of numerical cognition with the use of robotic cognitive models has a high potential of contributing toward the better understanding of the involved mechanisms. This thesis focuses on two particular groups of embodied effects tightly linked with learning to count. The first considered phenomenon is the contribution of the counting gestures to the counting accuracy of young children during the period of their acquisition of the skill. The second phenomenon, which arises over a longer time scale, is the human tendency to internally associate numbers with space that results, among others, in the widely-studied SNARC effect. The PhD research contributes to the knowledge in the subject by formulating novel neuro-robotic cognitive models of these phenomena, and by employing these in two series of simulation experiments. In the context of the counting gestures the simulations provide evidence for the importance of learning the number words prior to learning to count, for the usefulness of the proprioceptive information connected with gestures to improving counting accuracy, and for the significance of the spatial correspondence between the indicative acts and the objects being enumerated. In the context of the model of spatial-numerical associations the simulations demonstrate for the first time that these may arise as a consequence of the consistent spatial biases present when children are learning to count. Finally, based on the experience gathered throughout both modelling experiments, specific guidelines concerning future efforts in the application of robotic modelling in mathematical cognition are formulated.
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Ibrahim, Ahmed Abdellatif Hamed. "Jambe Humanoïde Hydraulique pour HYDROïD." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLV038.
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Le corps humain a toujours été une source d’inspiration pour les ingénieurs et les scientifiques de tous les domaines dans le monde entier. L’un des sujets les plus intéressants de la dernière décennie a été les robots humanoïdes. Les robots humanoïdes représentent les systèmes robotiques les plus complexes. Ils offrent une plus grande mobilité dans les terrains accidentés et non structurés que les véhicules à roues normaux. À l’avenir, les robots humanoïdes devraient être employés pour une variété de tâches dangereuses dans des domaines tels que les opérations de sauvetage, l’assistance aux personnes âgées, l’éducation et le déminage humanitaire. Le travail réalisé dans cette thèse est réalisé sur le robot hydraulique humanoïde HYDROïD, un humanoïde à commande hydraulique avec 52 degrés de liberté actifs, conçu pour exécuter des tâches très dynamiques comme la marche, la course et le saut. robot puisque les actionneurs hydrauliques ont un excellent rapport poids/puissance et absorbent naturellement les pics de force d’impact lors des différentes activités. L'objectif de cette thèse est de contribuer au développement des mécanismes robotiques de la cheville et du genou avec une dynamique élevée. Un nouveau mécanisme de cheville est développé afin de pallier les inconvénients des performances réalisées avec l’ancien mécanisme de cheville d'origine. Des taux de fuite et de frottement plus faibles sont obtenus en plus d’une optimisation de pression pour les articulations de la cheville. De plus, une nouvelle solution pour optimiser le poids des actionneurs hydrauliques est appliquée sur le mécanisme du genou du robot.Une telle solution comprend l’utilisation de la technologie des matériaux composites légers pour atteindre un poids et une performance optimisés pour le joint. Afin d’appliquer des méthodologies de contrôle sur les mécanismes de la cheville et du genou, un modèle géométrique inverse pour les deux mécanismes est présenté. Le contrôle de position est utilisé pour contrôler les angles des articulations de la cheville et les mécanismes du genou. Enfin, les conclusions et les perspectives d’avenir sont présentées dans le dernier chapitre<br>Human body has always been an inspiration for engineers and scientists from all fields all over the world. One of the most interesting topics in the last decade was humanoid robots. Humanoid robots represent the most complex robotic systems. They provide greater mobility in rough and unstructured terrain than the normal wheeled vehicles. In the future, humanoid robots are expected to be employed for a variety of dangerous tasks in fields like rescue operations, assisting elderly people, education and humanitarian demining. The work achieved in this dissertation is performed on the humanoid hydraulic robot HYDROïD. It is hydraulically actuated humanoid featuring 52 active degrees of freedom and is designed to perform highly dynamic tasks like walking, running and jumping. Hydraulic power was chosen for this robot since hydraulic actuators have an excellent power to weight ratio and naturally absorb impact force peaks during different activities. The objective of this dissertation is to contribute toward the development of ahighly dynamic robotic ankle and knee mechanisms. A new ankle mechanism islooked for in order to tackle the drawbacks raised by the performances achievedwith the original old ankle mechanism. Lower leakage and friction rates areachieved in addition to a pressure optimization for the ankle joints. Moreover, anew solution for optimizing the weight of hydraulic actuators is applied on theknee mechanism of the robot. Such solution includes the usage of light compositematerial technology to achieve optimized weight and performance for the joint.In order to apply control methodologies on the ankle and knee mechanisms,inverse geometrical model for the both mechanism are presented. Position controlis used to control the joints angles of the ankle and the knee mechanisms. Finally,the conclusions and the future perspectives are presented in the last chapter
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Domingues, Edgar Filipe da Silva. "Development of behaviors for humanoid robot." Master's thesis, Universidade de Aveiro, 2011. http://hdl.handle.net/10773/7429.
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Mestrado em Engenharia de Computadores e Telemática<br>Humanoid robotics is an area of active research. Robots with human body
are better suited to execute tasks in environments designed for humans.
Moreover, people feel more comfortable interacting with robots that have
a human appearance. RoboCup encourages robotic research by promoting
robotic competitions. One of these competitions is the Standard Platform
League (SPL) in which humanoid robots play soccer. The robot used is
the Nao robot, created by Aldebaran Robotics. The di erence between
the teams that compete in this league is the software that controls the robots.
Another league promoted by RoboCup is the 3D Soccer Simulation
League (3DSSL). In this league the soccer game is played in a computer
simulation. The robot model used is also the one of the Nao robot. However,
there are a few di erences in the dimensions and it has one more
Degree of Freedom (DoF) than the real robot. Moreover, the simulator
cannot reproduce reality with precision. Both these leagues are relevant
for this thesis, since they use the same robot model. The objective of this
thesis is to develop behaviors for these leagues, taking advantage of the
previous work developed for the 3DSSL. These behaviors include the basic
movements needed to play soccer, namely: walking, kicking the ball, and
getting up after a fall. This thesis presents the architecture of the agent
developed for the SPL, which is similar to the architecture of the FC Portugal
team agent from the 3DSSL, hence allowing to port code between both
leagues easily. It was also developed an interface that allows to control a
leg in a more intuitive way. It calculates the joint angles of the leg, using
the following parameters: three angles between the torso and the line connecting
hip and ankle; two angles between the foot and the perpendicular
of the torso; and the distance between the hip and the ankle. It was also
developed an algorithm to calculate the three joint angles of the hip that
produce the desired vertical rotation, since the Nao robot does not have a
vertical joint in the hip. This thesis presents also the behaviors developed
for the SPL, some of them based on the existing behaviors from the 3DSSL.
It is presented a behavior that allows to create robot movements by de ning
a sequence of poses, an open-loop omnidirectional walking algorithm, and
a walk optimized in the simulator adapted to the real robot. Feedback was
added to this last walk to make it more robust against external disturbances.
Using the behaviors presented in this thesis, the robot achieved a forward
velocity of 16 cm/s, a lateral velocity of 6 cm/s, and rotated at 40 deg/s.
The work developed in this thesis allows to have an agent to control the
Nao robot and execute the basic low level behaviors for competing in the
SPL. Moreover, the similarities between the architecture of the agent for
the SPL with that of the agent from the 3DSSL allow to use the same high
level behaviors in both leagues.<br>A robótica humanoide é uma área em ativo desenvolvimento. Os robôs com
forma humana estão melhor adaptados para executarem tarefas em ambientes
desenhados para humanos. Além disso, as pessoas sentem-se mais
confortáveis quando interagem com robôs que tenham aparência humana.
O RoboCup incentiva a investigação na área da robótica através da realização de competições de robótica. Uma destas competições é a Standard
Platform League (SPL) na qual robôs humanoides jogam futebol. O robô
usado é o robô Nao, criado pela Aldebaran Robotics. A diferença entre as
equipas que competem nesta liga está no software que controla os robôs.
Outra liga presente no RoboCup é a 3D Soccer Simulation League (3DSSL).
Nesta liga o jogo de futebol é jogado numa simulação por computador. O
modelo de robô usado é também o do robô Nao. Contudo, existem umas
pequenas diferenças nas dimensões e este tem mais um grau de liberdade do
que o robô real. O simulador também não consegue reproduzir a realidade
com perfeição. Ambas estas ligas são importantes para esta dissertação,
pois usam o mesmo modelo de robô. O objectivo desta dissertação é desenvolver
comportamentos para estas ligas, aproveitando o trabalho prévio
desenvolvido para a 3DSSL. Estes comportamentos incluem os movimentos
básicos necessários para jogar futebol, nomeadamente: andar, chutar a bola
e levantar-se depois de uma queda. Esta dissertação apresenta a arquitetura
do agente desenvolvida para a SPL, que é similar á arquitetura do agente
da equipa FC Portugal da 3DSSL, para permitir uma mais fácil partilha de
código entre as ligas. Foi também desenvolvida uma interface que permite
controlar uma perna de maneira mais intuitiva. Ela calcula os ângulos das
juntas da perna, usando os seguintes parâmetros: três ângulos entre o torso
e a linha que une anca ao tornozelo; dois ângulos entre o pé e a perpendicular
do torso; e a distância entre a anca e o tornozelo. Nesta dissertação foi
também desenvolvido um algoritmo para calcular os três ângulos das juntas
da anca que produzam a desejada rotação vertical, visto o robô Nao não
ter uma junta na anca que rode verticalmente. Esta dissertação também
apresenta os comportamentos desenvolvidos para a SPL, alguns dos quais
foram baseados nos comportamentos já existentes na 3DSSL. É apresentado
um modelo de comportamento que permite criar movimentos para o robô
de nindo uma sequência de poses, um algoritmo para um andar open-loop e
omnidirecional e um andar otimizado no simulador e adaptado para o robô
real. A este último andar foi adicionado um sistema de feedback para o
tornar mais robusto. Usando os comportamentos apresentados nesta dissertação, o robô atingiu uma velocidade de 16 cm/s para frente, 6 cm/s para
o lado e rodou sobre si pr oprio a 40 graus/s. O trabalho desenvolvido nesta
dissertação permite ter um agente que controle o robô Nao e execute os
comportamentos básicos de baixo nível para competir na SPL. Além disso,
as semelhan cas entre a arquitetura do agente para a SPL com a arquitetura
do agente da 3DSSL permite usar os mesmos comportamentos de alto nível
em ambas as ligas.
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Barros, João José Oliveira. "Cooperative haptics for humanoid robot teleoperation." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14402.
Full textAbstract:
Mestrado em Engenharia Mecânica<br>The high degree of complexity associated with the humanoid robotic platforms places some restrictions on the definition of accurate models to the study of motion
patterns. Thus, in the context of the University of Aveiro Humanoid Project - PHUA, some work has been done on trying to take advantage of the new concept of
robot learning from demonstration, where a human user teleoperates the robot in different motion and balance tasks using a haptic joystick. The data collected during
the tests can be used in learning algorithms, so the robot will be able to move, balance and walk on its own. However, the complexity of its kinematic chains, as
are the legs in motion and balance operations, makes the learning procedure a lot more challenging and complex due to the shortage of degrees-of-freedom available
on the joystick, when compared to those available on the robot. The potential solution lies in the use of two joysticks, one for each leg, in an attempt to ensure
a degrees-of-freedom matching between the joystick and the platform. On the other hand, it is also easily recognizable how difficult it could be to teleoperate the
real system, not only because of its complexity in terms of degrees-of-freedom but also due to possible errors introduced by mechanical and electronic components.
Hence, before trying this operation in the real PHUA platform, this approach is developed and tested in a simulation scenario, making use of an open-source robot
simulator, the V-REP. Concomitantly, the haptic interface will generate a force feedback on the haptic device which will be felt by the user, based on the model
dynamic response to motion and balance, besides some other disturbances.<br>O elevado grau de complexidade associado às plataformas robóticas humanóides impõe algumas restrições à definição de modelos rigorosos para o estudo de padrões
de movimento e locomoção. Assim, no contexto do Projecto Humanóide da Universidade de Aveiro - PHUA, tem sido desenvolvido algum trabalho de forma a tirar
partido do conceito de aprendizagem por demonstração, através da teleoperação humana com recurso a um joystick háptico. Os dados extraídos durante os testes
serão depois usados em algoritmos de aprendizagem, tentando com que o robô seja capaz de se mover, equilibrar e andar autonomamente. Contudo, a complexidade
das cadeias cinemáticas, como as pernas em tarefas de locomoção e equilíbrio, torna o processo de aprendizagem complexo e exigente pela escassez de graus de
liberdade no comando, em comparação com aqueles presentes no modelo. Deste modo, a solução possível passa pelo uso de dois joysticks, um por cada perna, de
forma a assegurar uma correspondência entre os graus-de-liberdade do joystick e do sistema real. Por outro lado, é também reconhecível a dificuldade em teleoperar
o sistema real, não só por esta complexidade em termos de graus-de-liberdade, mas também pelos erros introduzidos por componentes mecânicos e electrónicos.
Assim, antes da operação da plataforma real do PHUA será desenvolvida uma plataforma de simulação usando para isso um software livre, o V-REP. Simultaneamente,
a interface háptica gerará um feedback de força no dispositivo háptico que será sentida pelo utilizador, baseada na resposta dinâmica do sistema a movimentos
e equilíbrio, bem como outras perturbações externas.
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ROMUALDI, GIULIO. "Online Control of Humanoid Robot Locomotion." Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1092976.
Full textAbstract:
The complexity of robot dynamics and contact model are only a few of the challenges that increase the online threat to the locomotion problem. During the DARPA Robotics Challenge, a typical strategy to solve the humanoid movement challenge was to construct hierarchical systems made of numerous layers linked in cascade. Each layer computes its output taking into account the information received from the outer layer, the environment, the robot data, and a specific model of the robot and its interaction with the environment.
This thesis investigates several model-based controllers for time-critical humanoid robot motion control. Taking into account the layered control architecture, we vary the control models in a crescendo of complexity. Having in mind the importance of designing an online architecture for locomotion, we suggest a framework composed of three layers. The inner layer takes into account the entire robot model, whether kinematic or dynamic. The intermediate and outer layers take into account simpler or reduced models.
Given the inner layer, we first develop a controller that takes into account the entire rigid robot dynamical model in the situation of rigid contact with the environment. Second, we remove the rigid contact assumption and design a controller that accounts for compliant walking surfaces. Finally, we eliminate the rigid body hypothesis in some of the robot linkages and propose a controller that takes into account the robot's mechanical flexibility.
Considering the outer layers, we first describe a controller that assumes the robot behaves as a simplified model. Then, we seek to eliminate these simplifications while keeping the problem manageable online, by designing a controller that considers only a subset of the robot dynamics.
The proposed strategies are tested on real and simulated humanoid robots: the iCub and the TALOS humanoid robots.
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Agravante, Don Joven. "Human-humanoid collaborative object transportation." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS224/document.
Full textAbstract:
Les robots humanoïdes sont les plus appropriés pour travailler en coopération avec l'homme. En effet, puisque les humains sont naturellement habitués à collaborer entre eux, un robot avec des capacités sensorielles et de locomotion semblables aux leurs, sera le plus adapté. Cette thèse vise à rendre les robot humanoïdes capables d'aider l'homme, afin de concevoir des 'humanoïdes collaboratifs'. On considère ici la tâche de transport collaboratif d'objets. D'abord, on montre comment l'utilisation simultanée de vision et de données haptiques peut améliorer la collaboration. Une stratégie combinant asservissement visuel et commande en admittance est proposée, puis validée dans un scénario de transport collaboratif homme/humanoïde.Ensuite, on présente un algorithme de génération de marche, prenant intrinsèquement en compte la collaboration physique. Cet algorithme peut être spécifié suivant que le robot guide (leader) ou soit guidé (follower) lors de la tâche. Enfin, on montre comment le transport collaboratif d'objets peut être réalisé dans le cadre d'un schéma de commande optimale pour le corps complet<br>Humanoid robots provide many advantages when working together with humans to perform various tasks. Since humans in general have alot of experience in physically collaborating with each other, a humanoid with a similar range of motion and sensing has the potential to do the same.This thesis is focused on enabling humanoids that can do such tasks together withhumans: collaborative humanoids. In particular, we use the example where a humanoid and a human collaboratively carry and transport objectstogether. However, there is much to be done in order to achieve this. Here, we first focus on utilizing vision and haptic information together forenabling better collaboration. More specifically the use of vision-based control together with admittance control is tested as a framework forenabling the humanoid to better collaborate by having its own notion of the task. Next, we detail how walking pattern generators can be designedtaking into account physical collaboration. For this, we create leader and follower type walking pattern generators. Finally,the task of collaboratively carrying an object together with a human is broken down and implemented within an optimization-based whole-bodycontrol framework
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Edsinger, Aaron Ladd 1972. "A gestural language for a humanoid robot." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/86720.
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Wee, Teck Chew. "Design and control of a humanoid robot." Thesis, Imperial College London, 2014. http://hdl.handle.net/10044/1/24436.
Full textAbstract:
Design and control of the bipedal humanoid robot locomotion are challenging areas of research. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Bipedal walking can be achieved either with flat-foot or toe-foot walking. Flat-foot walking is more stable but slower, whereas toe-foot walking produces more natural and faster motion. Furthermore in toe-foot walking it is possible to perform stretch knee walking. The mechanical structure of the robot is designed with compact modular parts so that the robot kinematics can be modelled as a multi-point-mass system, and its dynamics are modelled applying the inverted pendulum model and the zero-moment-point concept. The optimality in the gait trajectory is achieved exploiting augmented model predictive control methods taking into consideration the trade-off between walking speed and stability. The robustness and stability of the walking gaits and posture in the presence of internal or external disturbances are enhanced by adopting angular compensation with joint control techniques. The thesis develops a flat-foot optimal walking gait generation method. The effectiveness of the control technique and the passive-toe design is validated by simulation tests with the robot walking on slope, stepping over an obstacle and climbing a stair. The walking gaits are implemented on a mid-size (1.6 meter, 58 kg) bipedal robot. Experiments demonstrate the effectiveness of the new proposed Augmented Model Predictive Control (AMPC) method has improved and produced a smoother gaits tracking trajectory in comparison with existing LQR and preview methods; and at the same time the proposed algorithms are able to reduce noise interference.
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Ramírez, Contla Salomón. "Peripersonal space in the humanoid robot iCub." Thesis, University of Plymouth, 2014. http://hdl.handle.net/10026.1/3050.
Full textAbstract:
Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.
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Grammar, Alex W. "Surface Electromyographic Control of a Humanoid Robot." Ohio University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354735771.
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Bombile, Michael Bosongo. "Visual servo control on a humanoid robot." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/18197.
Full textAbstract:
Includes bibliographical references<br>This thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the success of the numerous services that this kind of robots can render with their ability to associate dexterity and mobility in structured, unstructured or even hazardous environments. To achieve this objective, a humanoid robot is fully modeled and the control of its locomotion, conditioned by postural balance and gait stability, is studied. The presented approach is formulated to account for all the joints of the biped robot. As a way to conform the reference commands from visual servoing to the discrete locomotion mode of the robot, this study exploits a reactive omnidirectional walking pattern generator and a visual task Jacobian redefined with respect to a floating base on the humanoid robot, instead of the stance foot. The redundancy problem stemming from the high number of degrees of freedom coupled with the omnidirectional mobility of the robot is handled within the task priority framework, allowing thus to achieve con- figuration dependent sub-objectives such as improving the reachability, the manipulability and avoiding joint limits. Beyond a kinematic formulation of visual servoing, this thesis explores a dynamic visual approach and proposes two new visual servoing laws. Lyapunov theory is used first to prove the stability and convergence of the visual closed loop, then to derive a robust adaptive controller for the combined robot-vision dynamics, yielding thus an ultimate uniform bounded solution. Finally, all proposed schemes are validated in simulation and experimentally on the humanoid robot NAO.
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Alkhulayfi, Khalid Abdullah. "Vision-Based Motion for a Humanoid Robot." PDXScholar, 2016. https://pdxscholar.library.pdx.edu/open_access_etds/3176.
Full textAbstract:
The overall objective of this thesis is to build an integrated, inexpensive, human-sized humanoid robot from scratch that looks and behaves like a human. More specifically, my goal is to build an android robot called Marie Curie robot that can act like a human actor in the Portland Cyber Theater in the play Quantum Debate with a known script of every robot behavior. In order to achieve this goal, the humanoid robot need to has degrees of freedom (DOF) similar to human DOFs. Each part of the Curie robot was built to achieve the goal of building a complete humanoid robot. The important additional constraints of this project were: 1) to build the robot from available components, 2) to minimize costs, and 3) to be simple enough that the design can be replicated by non-experts, so they can create robot theaters worldwide. Furthermore, the robot appears lifelike because it executes two main behaviors like a human being. The first behavior is tracking where the humanoid robot uses a tracking algorithm to follow a human being. In other words, the tracking algorithm allows the robot to control its neck using the information taken from the vision system to look at the nearest human face. In addition, the robot uses the same vision system to track labeled objects. The second behavior is grasping where the inverse kinematics (IK) is calculated so the robot can move its hand to a specific coordinate in the surrounding space. IK gives the robot the ability to move its end-effector (hand) closer to how humans move their hands.
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Jleilaty, Subhi. "Control Architecture for Electro-Hydraulic Humanoid Robot." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPAST010.
Full textAbstract:
Malgré les progrès significatifs réalisés jusqu'à présent dans le contrôle des robots humanoïdes, ceux-ci sont encore loin de présenter de manière fiable des comportements semblables à ceux des humains. Les différents éléments qui composent les humanoïdes contribuent à l'amélioration de leurs comportements. Alors que l'augmentation de la limitation physique contribue aux mouvements dynamiques, l'architecture de contrôle est la clé pour gérer ces mouvements et déterminer les capacités du robot afin d'améliorer ses comportements. Ce travail vise à développer une architecture de contrôle émulant la fonctionnalité du système nerveux humain. Les architectures classiques traitaient des cycles sensorimoteurs mais sans distribution de l'intelligence. Qu'elles soient centralisées, où tous les composants sont connectés à une unité centrale, ou décentralisées, où les unités distribuées servent d'interface entre les E/S et le contrôleur principal sans pouvoir prendre de décision. La solution proposée est une architecture de contrôle en temps réel distribuée avec ROS. Les contrôleurs conjoints ont l'intelligence de prendre des décisions, de dominer leurs actionneurs et de publier leur état. Les validations expérimentales ont été effectuées sur notre robot humanoïde électro- hydraulique (HYDROïD). Les résultats démontrent des avancées de 50 % dans le taux de mise à jour par rapport à d'autres humanoïdes et de 30 % dans la latence du processeur principal et des tâches de contrôle. L'architecture proposée permet de créer et de tester des systèmes à intelligence artificielle distribuée<br>Despite the significant improvements achieved until now in controlling humanoid robots, they are still a long way from reliably exhibiting human-like behaviors. Various components that formulate humanoids contribute to improving their behaviors. While increasing the physical limitation contributes to dynamic motions, the control architecture is the key to managing those motions and determining robot capabilities to improve its behaviors. This work aims to develop a control architecture emulating the functionality of the human nervous system. Classical architectures dealt with sensorimotor cycles but without intelligence distribution. Whether centralized, where all components are connected to a central unit, or decentralized, where the distributed units are used as an interface between the I/Os and the master controller with no ability to make a decision. The proposed solution is a distributed real-time control architecture with ROS. The joint controllers have the intelligence to make decisions, dominate their actuators, and publish their state. The real- time capabilities are ensured in the master controller by using a Preempt-RT kernel beside OROCOS middleware to operate the real-time tasks. And in the customized joint controllers by FreeRTOS firmware. The experimental validations were performed on our electro-hydraulic humanoid robot (HYDROïD). The results demonstrate 50% advancements in the update rate compared to other humanoids and 30% in the latency of the master processor and the control tasks. The proposed architecture gives the possibility to create and test the systems with distributed artificial intelligence
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Che, Da. "Toward Humanoid Choreography and Dance." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1337187519.
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Maximo, Marcos Ricardo Omena de Albuquerque. "Omnidirectional ZMP-based walking for a humanoid robot." Instituto Tecnológico de Aeronáutica, 2015. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3242.
Full textAbstract:
Humanoid walking is considered one of the hardest problems in Robotics. Current state-of-the-art humanoid robots are able to achieve high speeds on flat ground. However, they still exhibit agility, dexterity, robustness, flexibility and energy efficiency far below a typical human does. In this thesis, our main goal is to develop an omnidirectional walking engine for a humanoid robot. We follow an approach based on the Zero Moment Point (ZMP) concept, which provides an useful criterion for biped stability. To avoid dealing directly with the complex dynamics of a high degrees of freedom humanoid robot, we used the 3D Linear Inverted Pendulum Model (3D-LIPM) to approximate the robot dynamics. The resulting equations allowed us to find a suitable center of mass (CoM) trajectory to maintain the robot balance analytically by solving a boundary value problem. Furthermore, we employed strategies to improve the walking robustness: we make the robot move its arms in order to compensate the yaw moment induced by the legs and we developed a feedback controller that uses the torso angular velocities to stabilize the walk. Taking advantage of the methods developed for walking, we also developed a kicking motion. Finally, experiments were done to validate the methods developed in this work.
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Lahr, Derek Frei. "Design and Control of a Humanoid Robot, SAFFiR." Diss., Virginia Tech, 2014. http://hdl.handle.net/10919/64178.
Full textAbstract:
Emergency first responders are the great heroes of our day, having to routinely risk their lives for the safety of others. Developing robotic technologies to aid in such emergencies could greatly reduce the risk these individuals must take, even going so far as to eliminate the need to risk one life for another. In this role, humanoid robots are a strong candidate, being able to take advantage of both the human engineered environment in which it will likely operate, but also make use of human engineered tools and equipment as it deals with a disaster relief effort.
The work presented here aims to lessen the hurdles that stand in the way through the research and development of new humanoid robot technologies. To be successful in the role of an emergency first responder requires a fantastic array of skills. One of the most fundamental is the ability to just get to the scene. Unfortunately, it is at this level that humanoid robots currently struggle.
This research focuses on the complementary development of physical hardware, digital controllers, and trajectory planning necessary to achieve the research goals of improving the locomotion capabilities of a humanoid robot. To improve the physical performance capabilities of the robot, this research will first focus on the interaction between the hip and knee actuators. It is shown that much like the human body, a biped greatly benefits from the use of biarticular actuation. Improvements in efficiency as much as 30% are possible by simply interconnecting the hip roll and knee pitch joints.
Balancing and walking controllers are designed to take advantage of the new hardware capabilities and expand the terrain capabilities of bipedal walking robots to uneven and non-stationary ground. A hybrid position/force control based balancing controller stabilizes the robot's COM regardless of the terrain underfoot. In particular two feedback mechanisms are shown to greatly improve the stability of bipedal systems in response to unmodelled dynamics. The hybrid position/force approach is shown through experiments to greatly extend humanoid capabilities to many types of terrain.
With robust balancing ensured, walking trajectories are defined using an improved linear inverted pendulum model that incorporates the swing leg dynamics. The proposed method is shown to significantly reduce the control authority (by 50%) required for satisfactory trajectory following. Three parameters are identified which provide for quick manual or numerical solutions to be found to the trajectory problem.
The walking and balance controller were operated on four different terrains successfully, strewn plywood, gravel, and high pile synthetic grass. Furthermore, SAFFiR is believed to be the first bipedal robot to ever walk on sand. The hardware enabled force control architecture was very effective at modulating ground reaction torques no matter the ground conditions. This in combination with highly accurate state estimation provided a very stable balance controller on top of which successful walking was demonstrated.<br>Ph. D.
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Lee, Bryce Kenji Tim-Sung. "Design of a Humanoid Robot for Disaster Response." Thesis, Virginia Tech, 2014. http://hdl.handle.net/10919/47492.
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This study focuses on the design and implementation of a humanoid robot for disaster response. In particular, this thesis investigates the lower body design in detail with the upper body discussed at a higher level. The Tactical Hazardous Operations Robot (THOR) was designed to compete in the DARPA Robotics Challenge where it needs to complete tasks based on first-responder operations. These tasks, ranging from traversing rough terrain through driving a utility vehicle, suggest a versatile platform in a human sized form factor. A physical experiment of the proposed tasks generated a set of joint range of motions (RoM). Desired limb lengths were determined by comparing existing robots, the test subject in the experiment of proposed tasks, and an average human. Simulations using the desired RoM and limb lengths were used to calculate baseline joint torques.
Based on the generated design constraints, THOR is a 34 degree of freedom humanoid that stands 1.78 [m] tall and weighs 65 [kg]. The 12 lower body joints are driven by series elastic linear actuators with multiple joints actuated in parallel. The parallel actuation mimics the human body, where multiple muscles pull on the same joint cooperatively. The legs retain high joint torques throughout their large RoM with some joints achieving torques as high as 289 [Nm]. The upper body uses traditional rotary actuators to drive the waist, arms, and head. The proprioceptive sensor selection was influenced by past experience on humanoid platforms, and perception sensors were selected to match the competition.<br>Master of Science
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Amico, Peter joseph. "Damage Reduction Strategies for a Falling Humanoid Robot." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78765.
Full textAbstract:
Instability of humanoid robots is a common problem, especially given external disturbances or difficult terrain. Even with the robustness of most whole body controllers, instability is inevitable given the right conditions. When these unstable events occur they can result in costly damage to the robot potentially causing a cease of normal functionality. Therefore, it is important to study and develop methods to control a humanoid robot during a fall to reduce the chance of critical damage.
This thesis proposes joint angular velocity strategies to reduce the impact velocity resulting from a lateral, backward, or forward fall. These strategies were used on two and three link reduced order models to simulate a fall from standing height of a humanoid robot. The results of these simulations were then used on a full degree of freedom robot, Viginia Tech's humanoid robot ESCHER, to validate the efficacy of these strategies.
By using angular velocity strategies for the knee and waist joint, the reduced order models resulted in a decrease in impact velocity of the center of mass by 58%, 87%, and 74% for a lateral, backward, and forward fall respectively in comparison to a rigid fall using the same initial conditions. Best case angular velocity strategies were then developed for various initial conditions for each falling direction. Finally, these parameters were implemented on the full degree of freedom robot which showed results similar to those of the reduced order models.<br>Master of Science
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Ridgewell, Cameron Patrick. "Humanoid Robot Friction Estimation in Multi-Contact Scenarios." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78716.
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This paper will present an online approach for friction approximation to be utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during multi-contact poses without the addition of hardware to the platform. This is achieved by utilizing disturbance detection as a method of monitoring active forces at a single external point and deriving available friction force at said contact point in accordance with Coulomb's Law of Friction. First, the rigid body dynamics and required compliant humanoid model optimization are established which allow incorporation of friction constraints. These friction constraints are then informed by monitoring of external forces, which can be used as an indicator of slip based on tangential force. In practice, the robot with operational multi-contact whole body control is navigated to the desired contact surface and normal force only contact is initiated. Using an iterative coefficient estimation based on the achieved system forces, the robot tests the boundaries of its operable force range by inducing slip. Slip detection is utilized as the basis for coefficient estimation, which allows the robot to further understand its environment and apply appropriate forces to its contact points. This approach was implemented on a simple 3 link model to verify expected performance, and then on both the simulated model of Virginia Tech's ESCHER robot and in practice on the actual ESCHER platform. The proposed approach was able to achieve estimation of slip parameters, based largely on time spent measuring, actual friction coefficient, and the available contact force. Though the performance of the proposed approach is dependent on a number of variables, it was able to provide an operational parameter for the robot's whole body controller, allowing expansion of the support region without risking multi-contact slip.<br>Master of Science
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Lyubova, Natalia. "Developmental approach of perception for a humanoid robot." Palaiseau, École nationale supérieure de techniques avancées, 2013. http://www.theses.fr/2013ESTA0003.
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Les robots de service ou d'assistance doivent évoluer dans un environnent humain en constant changement, souvent imprévisible. Ils doivent donc être capables de s'adapter à ces changements, idéalement de manière autonome, afin de ne pas dépendre de la présence constante d'une supervision. Une telle adaptation en environnements non structurés nécessite notamment une détection et un apprentissage continu des nouveaux objets présents, que l'on peut imaginer inspirés des enfants, basés sur l'interaction avec leur parents et la manipulation motivée par la curiosité. Notre travail vise donc à concevoir une approche développementale permettant à un robot humanoïde de percevoir son environnement. Nous nous inspirons à la fois de la perception humaine en termes de fonctionnalités et du développements cognitifs observé chez les infants. Nous proposons une approche qui permet à un robot humanoïde d'ex- plorer son environnement de manière progressive, comme un enfant, grâce à des interactions physiques et sociales. Suivant les principes de la robotique développementale, nous nous concentrons sur l'apprentissage progressif, continu et autonome qui ne nécessite pas de connaissances a priori des objets. Notre système de perception débute par la segmentation de l'espace visuel en proto-objets, qui serviront d'unités d'attention. Chaque proto-objet est représenté par des caractéristiques bas-niveaux (la couleur et la texture) et sont eux-mêmes intégrés au sein de caractéristiques de plus haut niveau pour ensuite former un modèle multi-vues. Cet apprentissage s'effectue de manière incrémentale et chaque proto-objet est associé à une ou plusieurs entités physiques distinctes. Les entités physiques sont ensuite classés en trois catégories : parties du robot, parties des humains et objets. La caractérisation est basée sur l'analyse de mouvements des entités physiques provenant de la vision ainsi que sur l'information mutuelle entre la vison et proprioception. Une fois que le robot est capable de catégoriser les entités, il se concentre sur l'interaction active avec les objets permettant ainsi d'acquérir de nouvelles informations sur leur apparence qui sont intégrés dans leurs modèles de représentation. Ainsi, l'interaction améliore les connaissances sur les objets et augmente la quantité d'information dans leurs modèles. Notre système de perception actif est évalué avec le robot humanoïde iCub en utilisant une base expérimentale de 20 objets. Le robot apprend par interaction avec un partenaire humain ainsi que par ses propres actions sur les objets. Notre système est capable de créer de manière non supervisée des modèles cohérents des différentes entités et d'améliorer les modèles des objets par apprentissage interactif et au final de reconnaître des objets avec 88. 5% de réussite.
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Picado, Hugo Rafael de Brito. "Development of behaviors for a simulated humanoid robot." Master's thesis, Universidade de Aveiro, 2008. http://hdl.handle.net/10773/2045.
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Mestrado em Engenharia de Computadores e Telemática<br>Controlar um robô bípede com vários graus de liberdade é um desafio que recebe a atenção de vários investigadores nas áreas da biologia, física,
electrotecnia, ciências de computadores e mecânica. Para que um humanóide possa agir em ambientes complexos, são necessários comportamentos
rápidos, estáveis e adaptáveis. Esta dissertação está centrada no desenvolvimento de comportamentos robustos para um robô humanóide
simulado, no contexto das competições de futebol robótico simulado 3D do RoboCup, para a equipa FCPortugal3D. Desenvolver tais comportamentos
exige o desenvolvimento de métodos de planeamento de trajectórias de juntas e controlo de baixo nível. Controladores PID foram implementados para o controlo de baixo nível. Para o planeamento de trajectórias, quatro métodos foram estudados. O primeiro método apresentado foi implementado antes desta dissertação e consiste numa sequência de funções degrau
que definem o ângulo desejado para cada junta durante o movimento. Um novo método baseado na interpolação de um seno foi desenvolvido e consiste em gerar uma trajectória sinusoidal durante um determinado tempo, o que resulta em transições suaves entre o ângulo efectivo e o ângulo desejado para cada junta. Um outro método que foi desenvolvido, baseado em séries parciais de Fourier, gera um padrão cíclico para cada junta, podendo ter múltiplas frequências. Com base no trabalho desenvolvido por Sven Behnke, um CPG para locomoção omnidireccional foi estudado em
detalhe e implementado. Uma linguagem de definição de comportamentos é também parte deste estudo e tem como objectivo simplificar a definição de comportamentos utilizando os vários métodos propostos. Integrando o controlo de baixo nível e os métodos de planeamento de trajectórias, vários comportamentos foram criados para permitir a uma versão simulada do humanóide NAO andar em diferentes direcções, rodar, chutar a bola, apanhar a bola (guarda-redes) e levantar do chão. Adicionalmente, a optimização e geração automática de comportamentos foi também estudada, utilizado algoritmos de optimização como o Hill Climbing e Algoritmos Genéticos.
No final, os resultados são comparados com as equipas de simulação 3D que reflectem o estado da arte. Os resultados obtidos são bons e foram capazes de ultrapassar uma das três melhores equipas simuladas do RoboCup em diversos aspectos como a velocidade a andar, a velocidade de rotação, a distância da bola depois de chutada, o tempo para apanhar a bola e o tempo para levantar do chão.
ABSTRACT: Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptable behaviors are required. This thesis is concerned with the development of robust behaviors
for a simulated humanoid robot, in the scope of the RoboCup 3D Simulated Soccer Competitions, for FCPortugal3D team. Developing such
robust behaviors requires the development of methods for joint trajectory planning and low-level control. PID control were implemented to achieve
low-level joint control. For trajectory planning, four methods were studied.
The first presented method was implemented before this thesis and consists of a sequence of step functions that define the target angle of each joint
during the movement. A new method based on the interpolation of a sine function was developed and consists of generating a sinusoidal shape during
some amount of time, leading to smooth transitions between the current angle and the target angle of each joint. Another method developed, based
on partial Fourier Series, generates a multi-frequency cyclic pattern for each joint. This method is very flexible and allows to completely control the angular positions and velocities of the joints. Based on the work of developed by Sven Behnke, a CPG for omnidirectional locomotion was studied in detail and implemented. A behavior definition language is also part of this study and aims at simplifying the definition of behaviors using the several proposed methods. By integrating the low-level control and the trajectory planning methods, several behaviors were created to allow a simulated version of the humanoid NAO to walk in different directions, turn, kick the ball, catch the ball (goal keeper) and get up from the ground. Furthermore, the automatic generation of gaits, through the use of optimization algorithms
such as hill climbing and genetic algorithms, was also studied and tested.
In the end, the results are compared with the state of the art teams of the RoboCup 3D simulation league. The achieved results are good and were
able to overcome one of the state of the art simulated teams of RoboCup in several aspects such as walking velocity, turning velocity, distance of the ball when kicked, time to catch the ball and the time to get up from the ground.
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Almeida, Nuno Filipe dos Reis. "Control agent architecture of a simulated humanoid robot." Master's thesis, Universidade de Aveiro, 2008. http://hdl.handle.net/10773/2181.
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Elhasairi, Ahmed I. "Humanoid robot full-body control & balance restoration." Thesis, University of Surrey, 2015. http://epubs.surrey.ac.uk/808748/.
Full textAbstract:
Humanoid robots are considered as complex and challenging platforms, and the state of the art in robotics. Humanoid robots are naturally expected to perform a wide variety of tasks using the same tools as humans, to operate in unconstrained environments, and to interact with other robots and humans in the same way we do. Humanoid robots are envisaged to be used in hazardous environments and as assistants to humans in the home or work place. In space, these platforms are considered as pre-human explorers operating in dangerous environments. The suitability of humanoid robots for space exploration has been acknowledged by NASA with the launch of the humanoid Robonaut to the International Space Station. As the expectations of these platforms continues to grow, many challenges still exist on how to control and manipulate such systems to perform the tasks expected humans. For example, maintaining the robots balance under different perturbation, as well as generating a stable, fast and efficient walking gait, is an important requirement that has to be naturally inherited in these platforms. However, the large number of degrees of freedom, and the non-linear chaotic nature of robot dynamics, result in the increased difficulty in manipulating the full body behaviours of these robots. The main goal of this research is to develop an efficient model that captures the full body behaviour accurately, while restoring balance and controlling the locomotion system. The Spherical Inverted Pendulum (SIP) concept was developed to model the biped robot centre of mass motion using the ankle joints. A novel balancing control law based on the principles of dissipative systems is developed and presented. It has been demonstrated that this controller restores balance by dissipating the kinetic energy introduced in the system as a result of disturbances. The SIP model is later used in the development of a balance and locomotion control framework using the concept of passive dynamic walking, and full body inverse kinetics, to achieve efficient and robust locomotion gait for the biped robot. Simulations were used to validate the SIP model and the new control framework for balance restoration and walking. Hardware validation of the multi-task manipulation and the simultaneous execution of tasks is also developed and presented in this thesis using the Nao humanoid robot.
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Veerapuneni, Satish Kumar. "Benchmarking smart homes using a humanoid robot approach." [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0006467.
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DAFARRA, STEFANO. "Predictive Whole-Body Control of Humanoid Robot Locomotion." Doctoral thesis, Università degli studi di Genova, 2020. http://hdl.handle.net/11567/1004529.
Full textAbstract:
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines cannot achieve a constant forward body movement without exploiting contacts with the environment. The reactive forces resulting from the contacts are subject to strong limitations, complicating the design of control laws. As a consequence, the generation of humanoid motions requires to exploit fully the mathematical model of the robot in contact with the environment or to resort to approximations of it.
This thesis investigates predictive and optimal control techniques for tackling humanoid robot motion tasks. They generate control input values from the system model and objectives, often transposed as cost function to minimize.
In particular, this thesis tackles several aspects of the humanoid robot locomotion problem in a crescendo of complexity. First, we consider the single step push recovery problem. Namely, we aim at maintaining the upright posture with a single step after a strong external disturbance. Second, we generate and stabilize walking motions. In addition, we adopt predictive techniques to perform more dynamic motions, like large step-ups.
The above-mentioned applications make use of different simplifications or assumptions to facilitate the tractability of the corresponding motion tasks. Moreover, they consider first the foot placements and only afterward how to maintain balance. We attempt to remove all these simplifications. We model the robot in contact with the environment explicitly, comparing different methods. In addition, we are able to obtain whole-body walking trajectories automatically by only specifying the desired motion velocity and a moving reference on the ground. We exploit the contacts with the walking surface to achieve these objectives while maintaining the robot balanced.
Experiments are performed on real and simulated humanoid robots, like the Atlas and the iCub humanoid robots.
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Mobalegh, Hamid [Verfasser]. "Development of an autonomous humanoid robot team / Hamid Mobalegh." Berlin : Freie Universität Berlin, 2012. http://d-nb.info/1026883792/34.
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Jiang, Sifan. "Re-target Human Gesticulation to a Humanoid Robot NAO." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-289466.
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Gesticulation is important in human communication. Humanoid robots should mimic the human gesticulation to have a good conversation with a human. However, in traditional systems that produce robot motions, human pre-define the motion frame by frame for the robot which requires a lot of labor. In this thesis work, we developed an automatic system taking human motion capture data as input and output the joint angle sequence for the humanoid robot NAO that mimics the human motion. This method could be used to map gestures generated by a model to a NAO robot as well. We trained a Multilayer Perceptron (MLP) model to map human poses to NAO’s poses frame by frame. Afterwards, we used constrained optimization and smoothing to make the motion fit the physical limitations of NAO and be smooth. To our best knowledge, our work brings the following novelties: we proposed a method that maps human motion to NAO within the physical limitations of NAO; we created a small dataset containing corresponding human poses and NAO poses which could be used for similar projects in the future.<br>Gesticulation är viktigt i mänsklig kommunikation. Humanoidrobotar bör efterlikna mänsklig gestikulation för att ha en bra konversation med en människa. Men i traditionella system som producerar robotrörelser fördefinierar människor rörelsen ram för ram för roboten som kräver mycket arbete. I detta uppsatsarbete utvecklade vi ett automatiskt system som tar mänsklig rörelseinspelningsdata som inmatning och utmatning av den gemensamma vinkelsekvensen för den humanoida roboten NAO som efterliknar den mänskliga rörelsen. Denna metod kan också användas för att kartlägga gester som genereras av en modell till en NAO-robot. Vi utbildade en MLP-modell för att kartlägga mänskliga poser till NAO: s poser ram för ram. Efteråt använde vi begränsad optimering och utjämning för att få rörelsen att passa NAO: s fysiska begränsningar och vara smidig. Så vitt vi känner till ger vårt arbete följande nyheter: vi föreslog en metod som kartlägger mänsklig rörelse till NAO inom NAO: s fysiska begränsningar; vi skapade en liten dataset som innehåller motsvarande mänskliga poser och NAO-poser som skulle kunna användas för andra liknande undersökningar i framtiden.
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Nortman, Scott D. "Design, construction, and control of an autonomous humanoid robot." [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1000147.
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Thesis (M.S.)--University of Florida, 2002.<br>Title from title page of source document. Document formatted into pages; contains vii, 68 p.; also contains graphics. Includes vita. Includes bibliographical references.
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Wang, Chao-kuei, and 王兆葵. "Neural Network Classification and Modeling for Visual Learning of Humanoid Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/37450393934306166723.
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碩士<br>國立臺灣科技大學<br>電機工程系<br>101<br>This paper proposes the visual learning (imitation) of humanoid robot by stereo vision system. At beginning, the sequence of 3-D motion of “the Performer”, which is face to face with “the Learner”, is captured by the stereo vision system (SVS) installed at “the Learner.” The proposed image processing for each sampled image includes motion detector via background registration, morphology filtering of high frequency noise, and estimation of seven feature points (i.e., head, elbows, four tips of two arms and legs). We analyzed the data of head and tips of legs to designing appropriate feature vector and classified lower body by the pre-trained multilayer neural networks (MLNN).Then the two arm tips and elbows with RA is also approximated by a pre-trained MLNN to get upper body. Combined with the RA of lower body and two arm tips of upper body is employed to achieve the visual learning (or imitation) of 3D motion of an human robot. Finally, the corresponding experiments confirm the effectiveness and feasibility of the proposed methodology.
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Xue, Zhong-cheng, and 薛仲呈. "An SOM-Like Approach to Inverse Kinematics Modeling for Humanoid Robot Arms." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/40049746122849846441.
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碩士<br>國立中央大學<br>資訊工程學系<br>102<br>Robot kinematics modeling has been one of the main research issues in robotics research.The goal of this thesis is to endow a 3-D printed humanoid robot arm with the ability of positioning its fingers to a target position in real time. To achieve this goal, the robot system has to seek a high efficiency solution to inverse kinematics modeling. In this thesis, an SOM-like inverse kinematics modeling method for humanoid robot arms is proposed. The principal idea behind the proposed modeling method is to discretize the work space of the robot arm into a cubic lattice consisting of N_x×N_y×N_z sampling points. Each sampling point corresponds to a reciprocal zone and is assigned one grid node, storing five different data items: the index vector of the sampling point〖▁W_j〗^i, the coordinate vector of sampling point〖▁W_j〗^c, the position vector〖▁W_j〗^x, the output vector〖▁W_j〗^θ, and the Jacobian matrix〖▁W_j〗^J. All these five data terms can be quickly learned by the proposed modeling method from acollected training data set in an SOM-like manner. The training data set can be constructed by either the uniformly discretization scheme or the real-life data generation scheme. The computations of the joint angles corresponding to a target position in the work space involve the following two steps. First of all, we search the reciprocal zone which is closest to the target position. Secondly, the joint angles are approximated by a linear Jacobian expansion of the transformation"Θ(" ▁x) via the position vector 〖▁W_j〗^x, the output vector 〖▁W_j〗^θ, and the Jacobian matrix 〖▁W_j〗^J within the reciprocal zone.
The performance of the proposed SOM-like inverse kinematics modeling method was tested on a 3-D printed robot arm with 5 degrees of freedom(DOF). The first experiment was conducted on a simulated robot arm environment. An averag eerror of 4.95mm and 4.91mm could be achieved over the 20,800 training data and 9,072 testing data, respectively. In addition, we can use a multi-step method to improve the performance to achieve 0.37mm errors in 0.03milliseconds.
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"Modeling and Design Analysis of Facial Expressions of Humanoid Social Robots Using Deep Learning Techniques." Master's thesis, 2017. http://hdl.handle.net/2286/R.I.44138.
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abstract: A lot of research can be seen in the field of social robotics that majorly concentrate on various aspects of social robots including design of mechanical parts and their move- ment, cognitive speech and face recognition capabilities. Several robots have been developed with the intention of being social, like humans, without much emphasis on how human-like they actually look, in terms of expressions and behavior. Fur- thermore, a substantial disparity can be seen in the success of results of any research involving ”humanizing” the robots’ behavior, or making it behave more human-like as opposed to research into biped movement, movement of individual body parts like arms, fingers, eyeballs, or human-like appearance itself. The research in this paper in- volves understanding why the research on facial expressions of social humanoid robots fails where it is not accepted completely in the current society owing to the uncanny valley theory. This paper identifies the problem with the current facial expression research as information retrieval problem. This paper identifies the current research method in the design of facial expressions of social robots, followed by using deep learning as similarity evaluation technique to measure the humanness of the facial ex- pressions developed from the current technique and further suggests a novel solution to the facial expression design of humanoids using deep learning.<br>Dissertation/Thesis<br>Masters Thesis Computer Science 2017
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Yu, Chih-Wei, and 游智惟. "Robot Promoted Education using Humanoid Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/59190558433420889623.
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碩士<br>北台灣科學技術學院<br>機電整合研究所<br>97<br>In this paper, we study the design and manufacturing methods of humanoid robot, and applied the results to exhibitions, performances, contests and popular science education. The outline of Robot was structured in two different methods. Firstly, design by LEGO NXT teaching aids. Second, the outline of robot was simplified to a humanoid robot with 16 degrees of freedom to simulate the joint movement of the robot by servomotors. The joint actuators of the robot were driven by RC servos and were fixed through laser cutting aluminum components. The control system of the robot was based on ROBOLAB and Basic programming language. Therefore, this humanoid robot's hardware architecture is combined by actuators and domestic-made servomotor. The technology of biped walking robot was applied to exhibitions, performances, competitions and the promotion of science education. Meanwhile, for the future of robot education, we could plan and design the robot science education by the accumulated experience of robotics, the promotion of popular science education, exhibitions and performances.
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"Palm-sized humanoid robot." 2008. http://library.cuhk.edu.hk/record=b5893586.
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Chung, Wing Kwong.<br>Thesis (M.Phil.)--Chinese University of Hong Kong, 2008.<br>Includes bibliographical references (leaves 97-101).<br>Abstracts in English and Chinese.<br>Chapter 1 --- Introduction --- p.1<br>Chapter 1.1 --- Motivation --- p.1<br>Chapter 1.2 --- Related Work --- p.3<br>Chapter 1.2.1 --- History of Humanoid Robots --- p.3<br>Chapter 1.2.2 --- The Study of Humanoid Robots --- p.5<br>Chapter 1.3 --- Thesis Overview --- p.6<br>Chapter 2 --- Architecture --- p.8<br>Chapter 2.1 --- Introduction --- p.8<br>Chapter 2.2 --- Mechanical Design --- p.8<br>Chapter 2.3 --- Hardware Platform --- p.11<br>Chapter 2.4 --- Software Platform --- p.14<br>Chapter 3 --- Kinematics --- p.15<br>Chapter 3.1 --- Introduction --- p.15<br>Chapter 3.2 --- Forward Kinematics --- p.15<br>Chapter 3.2.1 --- Lower Limb --- p.17<br>Chapter 3.2.2 --- Upper Limb --- p.19<br>Chapter 3.3 --- Inverse Kinematics --- p.21<br>Chapter 3.3.1 --- Lower Limb --- p.21<br>Chapter 3.3.2 --- Upper Limb --- p.24<br>Chapter 4 --- Gait Synthesis --- p.29<br>Chapter 4.1 --- Introduction --- p.29<br>Chapter 4.1.1 --- Difference Between Human and Robot Joints --- p.29<br>Chapter 4.1.2 --- Difference Types of Gait for Humanoid Robots --- p.30<br>Chapter 4.2 --- Related Works --- p.31<br>Chapter 4.3 --- Gait Frame --- p.33<br>Chapter 4.3.1 --- Analysis of Human Gait --- p.33<br>Chapter 4.3.2 --- Gait Frame for PHR --- p.34<br>Chapter 4.4 --- Gait Synthesis --- p.36<br>Chapter 4.4.1 --- Mathematic Description of Bezier Curve --- p.36<br>Chapter 4.4.2 --- Reasons for Using Bezier Curve for Gait Synthesis --- p.37<br>Chapter 4.4.3 --- Gait Synthesis Using Bezier Curve Interpolation --- p.37<br>Chapter 4.5 --- Experiments --- p.40<br>Chapter 4.5.1 --- Experimental Setup --- p.40<br>Chapter 4.5.2 --- Results --- p.40<br>Chapter 4.6 --- Discussion --- p.43<br>Chapter 4.7 --- Conclusion and Future Work --- p.44<br>Chapter 5 --- Balance Algorithm for PHR --- p.45<br>Chapter 5.1 --- Introduction --- p.45<br>Chapter 5.2 --- Related Works --- p.45<br>Chapter 5.3 --- Balance Algorithm --- p.47<br>Chapter 5.4 --- Experiments --- p.51<br>Chapter 5.4.1 --- Experimental Setup --- p.51<br>Chapter 5.4.2 --- Results --- p.51<br>Chapter 5.5 --- Discussion --- p.54<br>Chapter 5.6 --- Conclusion and Future Work --- p.54<br>Chapter 6 --- Human-robot Interaction System through Hand Gestures --- p.55<br>Chapter 6.1 --- Introduction --- p.55<br>Chapter 6.2 --- Related Works --- p.55<br>Chapter 6.3 --- Flow of Hand Gesture Recognition --- p.57<br>Chapter 6.4 --- Database Establishment --- p.60<br>Chapter 6.4.1 --- Hand Detection and Preprocessing --- p.60<br>Chapter 6.4.2 --- Extraction of Features --- p.62<br>Chapter 6.4.3 --- Storage of Features --- p.68<br>Chapter 6.5 --- Hand Gesture Recognition --- p.69<br>Chapter 6.6 --- Experiments --- p.72<br>Chapter 6.6.1 --- Experimental Setup --- p.72<br>Chapter 6.6.2 --- Recognition Results --- p.73<br>Chapter 6.7 --- Discussion --- p.75<br>Chapter 6.8 --- Conclusion and Future Work --- p.75<br>Chapter 7 --- Conclusion --- p.76<br>Chapter 7.1 --- Research Summary --- p.76<br>Chapter 7.2 --- Future Work --- p.78<br>Chapter A --- Forward Kinematics of PHR --- p.79<br>Chapter A.1 --- Lower Limb --- p.79<br>Chapter A.2 --- Upper Limb --- p.82<br>Chapter B --- Inverse Kinematics of PHR --- p.85<br>Chapter B.1 --- Lower Limb --- p.85<br>Chapter B.2 --- Upper Limb --- p.88<br>Chapter C --- Zero Moment Point --- p.91<br>Chapter D --- User Interface of PHR --- p.93
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Cruz, Luís Miranda. "Humanoid Robot NAO : developing behaviours for soccer humanoid robots." Master's thesis, 2011. http://hdl.handle.net/10216/61272.
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Cruz, Luís Miranda. "Humanoid Robot NAO : developing behaviours for soccer humanoid robots." Dissertação, 2011. http://hdl.handle.net/10216/61272.
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Li, Zong-xian, and 李宗憲. "Development of Humanoid Robot Arm." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/nyn4b9.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>96<br>This research uses penetration anatomy to understand the human arm structure. The robot arm is based on the human arm size and the degree of freedom. We improved the robot arm size and its weight because the size was too big and the weight was too heavy. We developed the new training program and combined the robot hand become the complete robot arm. In our application, the complete robot arm can do the human arm task. Finally it can completely interact with the human.
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Wang, Yuan-kun, and 王源錕. "Development of Humanoid Robot Hand." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/99937805492136261194.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>96<br>The goal of this paper is to design a humanoid robot hand, to achieve the human hand movement and capture objects function, and may integrate in the robot arm or other working platform. First, discuss the movement and joint of human hand. Second, define and simplify the degree of freedom of this system. Then, to develop and design a robot hand which has 5 fingers, 8 degrees of freedom and 18 joint.
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Jian, Ren-Wei, and 簡仁威. "Development of Humanoid Model Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/50884326418998059906.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>103<br>The study is about designing a humanoid robot which can be used inside the clothes windows to show body postures in wearing different kinds of clothes. Based on the style of clothes, we can design different body postures for the robot to display. The dynamic showing capabilities can easily catch customers’ attention to the robot.
The design concept of the humanoid modeling robot is to imitate the human body’s shape, and the dimensions of robot’s upper body are based on a females’ body. In order to achieve a stable display effect for a selected robot’s posture, the mechanical designs and the transmission mechanisms have been carefully studied and designed. The robot’s body posture can be arranged based on the style of the clothes. The modeling robot is equipped with two 5-DOF arms and each hand has 5 single-DOF fingers.
The base of the robot is designed as a moving platform which has two active wheels and two passive wheels. It is easily to move, and free to turn.
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Rei, José Luís Machado. "Optimizing simulated humanoid robot skills." Master's thesis, 2010. http://hdl.handle.net/10216/60266.
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Chen, Yu-Hau, and 陳昱豪. "Analysis of Humanoid Robot Dynamics." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/07132951129723625542.
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碩士<br>國立高雄第一科技大學<br>電機工程研究所碩士班<br>103<br>Humanoid robot motion control is based on accurate and powerful control of joint. We use teen-size humanoid robot (Dagobot Plus) which has more rotation force in joints of feet. Therefore, this study focuses on using the dynamic simulation to analyze motor dynamics of joint for teen-size humanoid robot. Here, we discuss effects of increasing footstep distance and changing different institution. We observe motor torque of feet, and Locus of center for gravity. We can get some parameters about each design of joint, gait trajectory and changing of motor force. It make robot stable when walking.
The dynamics is analyzed by SolidWorks dynamics simulation using the value of each joints angle. The simulation results show that setting different gait trajectory parameters would have effect on motor torque and the center of gravity trajectory for the robot. Increased hip joint mechanism spacing may have a more torque to the motor. Summing up above conclusions will help to design the robot mechanism in the future.