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Journal articles on the topic 'Modeling a humanoid robot'
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1
Asthana, Shefalika, Srikanth R. Karna, and Irine Ann Shelby. "Amaranthine: Humanoid Robot Kinematics." International Journal of High Speed Electronics and Systems 29, no. 01n04 (2020): 2040015. http://dx.doi.org/10.1142/s0129156420400157.
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Humanoid robots are employed in a wide range of fields to replicate human actions. This paper presents the mechanism, configuration, mathematical modeling, and workspace of a 3D printed humanoid robot – Amaranthine. It also discusses the potential scope of humanoid robots in the present day and future. Robots can be programmed for automation as per the demand of the task or operations to be performed. Humanoid robots, while being one of the small groups of service robots in the current market, have the greatest potential to become the industrial tool of the future. Introducing a Humanoid Robot-like Amaranthine holds huge scope majorly in the fields of medical assistance, teaching aid, large industries where heavy-duty operations require application-specific software, etc. Amaranthine was 3D printed and assembled at the RISC Lab of University of Bridgeport.
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VELOSO, MANUELA, NICHOLAS ARMSTRONG-CREWS, SONIA CHERNOVA, et al. "A TEAM OF HUMANOID GAME COMMENTATORS." International Journal of Humanoid Robotics 05, no. 03 (2008): 457–80. http://dx.doi.org/10.1142/s0219843608001479.
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We present a team of two humanoid robot commentators for AIBO robot soccer games. The two humanoids stand by the side lines of the playing field, autonomously observe the game, wirelessly listen to a "game controller" computer, recognize events, and select announcing actions that may require coordination with each other. Given the large degree of uncertainty and dynamics of the robot soccer games, we further introduce a "Puppet Master" control that allows humans to intervene, prompting the robots to commentate an event if previously undefined or undetected. The robots recognize events based on input from these three sources, namely own and shared vision, game controller, and occasional Puppet Master. We present the two-humanoid behavioral architecture and the vision-based event recognition, including a SIFT-based vision processing algorithm that allows for the detection of multiple similar objects, such as the identical shaped robot players. We introduce the commentating algorithm that probabilistically selects a commentating action from a set of weighted actions corresponding to a detected event. The probabilistic selection uses the game history and updates the action weights to effectively avoid repetition of comments to enable entertainment. Our work, corresponding to a fully implemented system, CMCast, with two QRIO robots, contributes a team of two humanoids fully executing a challenging observation, modeling, coordination, and reporting task.
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Zhu, Zhen Chao, Zhen Sui, Yan Tao Tian, and Hong Jiang. "Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait." Applied Mechanics and Materials 461 (November 2013): 903–7. http://dx.doi.org/10.4028/www.scientific.net/amm.461.903.
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Considering the sagittal movement and the lateral swing in the humanoid practical walking, a new humanoid passive dynamic bipedal robot with the lateral movable upper body is proposed in this paper. The finite state machine (FSM) theory is adopted to control the robot, which changes agilely the control strategy according to the practical states of the humanoid gait. In the method, the torque compensation adaptive excitation control strategy is used for sagittal control and PID is applied to the upper body for the robots lateral stability. It is verified by the co-simulation based on ADAMS and MATLAB that the bipedal robot can reach the stable humanoid gait with the high energy efficiency.
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Mogos, E. "The fuzzy-based systems in the communication between a human and a humanoid robot." Journal of Physics: Conference Series 2251, no. 1 (2022): 012003. http://dx.doi.org/10.1088/1742-6596/2251/1/012003.
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Abstract The communication between a human and a humanoid robot is a real challenge for the researchers in the field of the robotics. Despite of the progress in the acoustic modelling and in the natural languages the humanoid robots are overtaken by the humans when the humanoid robots are engaged in the real life because the speech and the human emotions are extremely ambiguous due to the noises and the external audio events from the robot’s environment. The humans assign a correct interpretation to the perceived ambiguous signal, but the humanoids robots cannot interpret the ambiguous signal. The most common software used in the interpretation of the ambiguous signal is a fuzzy based software. The artificial neuro-fuzzy inference system, shortly known as ANFIS is the emotion recognition system based on the fuzzy sets which acts as the thalamus of the human brain and it is responsible for the sensorial perception of the humanoid robot. Our goal in this work is to create the fuzzy-based sound signals software and the fuzzy-based genetic algorithm with high performance in the communication between the human and the humanoid robots which help the humanoid robots to think, to understand the human speech and the human emotions and all the ambiguous signals from the robot’s environment in a way that it is distinguishable for every humanoid robot as the human.
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Yanto, Luky, Raden Sanggar Dewanto, Dadet Pramadihanto, and Eko Henfri Binugroho. "Teen-Size Humanoid “FLoW†Complete Analytical Kinematics." EMITTER International Journal of Engineering Technology 5, no. 2 (2018): 298–311. http://dx.doi.org/10.24003/emitter.v5i2.233.
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Humanoid research in Indonesia is quite a lot, but in reality only limited in kid-size proportional size, while for the Teen-Size is still rare. Research on the Teen-Size Humanoid robot requires more joints to be able to perform the movement compared to the size of Kid-Size, therefore required more complex modeling to determine the movement. With complete kinematics anlysis, the movement of the robot can be solved. With kinematic forward-invers, researchers can determine the movement of robots by controlling the motor parts that function as a joint on the robot. In this study, the modeling uses D-H parameter, because this modeling has been widely used, besides the calculation can be solved by computing. And then for the simulation can be done with V-REP software. Forward-invers kinematics can be implemented on the PID algorithm, in order to generate speed on the motor that can form an angle on the motor to make the movement. The result of this research is to obtain equation of matrix transformation from all body parts of robot. With the creation of this Humanoid Teen-Size robot, it is hoped that the research on Humanoid robot in Indonesia will be increasingly diverse and increasing, and can be used as a support and reference in the development of Humanoid Teen-Size next.
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Chukwuagu, M. I., and E.C. Aneke. "ARTIFICIAL INTELLIGENT BASED AUTOMATIC PATH FINDING AND COMPUTATIONAL COMPLEXITY REDUCTION ROBOT USING PREWITT EDGE DETECTION PARADIGM." International Journal of Novel Research in Computer Science and Software Engineering 9, no. 3 (2022): 1–15. https://doi.org/10.5281/zenodo.7360533.
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<strong>Abstract:</strong> Humanoid Robots are enormously complex and that is why the research on humanoids spreads out over all kinds of scientific fields, from mechanics to electronics, from modeling to control and from informatics to biomechanics. This research paper is concerned with the development of a humanoid robot using edge detection technique. In the design process, the model of a humanoid robot was developed first using the simulink library tools in Matlab/Simulink environment. The guassian block convolved the input matrix with the Prewitt kernel and the block outputs two gradient components of the image, the block also performed a thresholding operation on the gradient magnitudes and output a binary image, which is a matrix of Boolean values. During the development of the humanoid robot an object orientated method was employed. Odometry and landmark method was employed in the navigation of the humanoid system. Sample of robot in ordinary form and also in edge detection form was collected and experimented in paint graphics using Portable Network Graphics format. Both of the two samples were scaled to 300X300 in dimension, and also 300X300 pixels with respect to width and height, bit depth as 32 and result showed that the computational size of the ordinary robot was 90.1kb and that of the prewitt edge detection was 16.6kb using Portable Network Graphics. This amounts to 81.58 percentage improvement. The same sample was also collected for canny edge detector and Sobel edge detector and experimented using paint graphics and their computational sizes were recorded as 19.5kb and 29.0kb respectively. This proves that prewitt edge detector is computationally cheaper than Canny as reviewed in (Karl, 2016) which either too much noise observed or too many information omitted. <strong>Keywords:</strong> Humanoid robot, Motorized robot, modeling a humanoid robot, Robot obstacle avoidance, Prewitt edge detection, Method of navigation, Robot in canny edge detection, Robot in Roberts edge, Robot in prewitt edge detection form. <strong>Title:</strong> ARTIFICIAL INTELLIGENT BASED AUTOMATIC PATH FINDING AND COMPUTATIONAL COMPLEXITY REDUCTION ROBOT USING PREWITT EDGE DETECTION PARADIGM <strong>Author:</strong> Chukwuagu M. I, Aneke E.C. <strong>International Journal of Novel Research in Computer Science and Software Engineering</strong> <strong>ISSN 2394-7314</strong> <strong>Vol. 9, Issue 3, September 2022 - December 2022</strong> <strong>Page No: 1-15</strong> <strong>Novelty Journals</strong> <strong>Website: www.noveltyjournals.com</strong> <strong>Published Date: 25-November-2022</strong> <strong>DOI: https://doi.org/10.5281/zenodo.7360533</strong> <strong>Paper Download Link (Source)</strong> <strong>https://www.noveltyjournals.com/upload/paper/ARTIFICIAL%20INTELLIGENT%20BASED%20AUTOMATIC-25112022-2.pdf</strong>
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TORTA, ELENA, RAYMOND H. CUIJPERS, JAMES F. JUOLA, and DAVID VAN DER POL. "MODELING AND TESTING PROXEMIC BEHAVIOR FOR HUMANOID ROBOTS." International Journal of Humanoid Robotics 09, no. 04 (2012): 1250028. http://dx.doi.org/10.1142/s0219843612500284.
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Humanoid robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behavior-based robotic architecture that (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the users personal space (PS) by choosing the appropriate distance and direction of approach. The model of the PS is derived from human–robot interaction tests, and it is described in a convenient mathematical form. The robot's target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioral architecture shows that the robot is able to exhibit appropriate proxemic behavior.
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Muscolo, G. G., C. T. Recchiuto, and R. Molfino. "Dynamic balance optimization in biped robots: Physical modeling, implementation and tests using an innovative formula." Robotica 33, no. 10 (2014): 2083–99. http://dx.doi.org/10.1017/s0263574714001301.
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SUMMARYIn this paper, an analytical formula for the determination of the center of mass position in humanoid platforms is proposed and tested in a real humanoid robot. The formula uses the force-torque values obtained by the two force-torque sensors applied on the feet of the robot and the measured currents required from the motors to maintain balance as inputs. The proposed formula outputs the real center of mass position that minimizes the errors between real humanoid robots and virtual models. Data related to the Zero Moment Point positions and to the joint movements are compared with the target values, showing how the application of the proposed formula enables achieving better repeatability and predictability of the static and dynamic robot behaviour.
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Wang, Hongxing, LianZheng Ge, Ruifeng Li, Yunfeng Gao, and Chuqing Cao. "Motion optimization of humanoid mobile robot with high redundancy." Assembly Automation 41, no. 2 (2021): 155–64. http://dx.doi.org/10.1108/aa-06-2020-0083.
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Purpose An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling. Design/methodology/approach The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized. Findings Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process. Research limitations/implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Practical implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Social implications In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot. Originality/value Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.
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Vladyslav, Yevsieiev, Abu-Jassar Amer, and Maksymova Svitlana. "Humanoid Robot Movement Simulation in ROS." Multidisciplinary Journal of Science and Technology 4, no. 7 (2024): 146–54. https://doi.org/10.5281/zenodo.12735166.
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This article examines the task of humanoid robot movement forward and backward simulating in ROS RViz core. The main research lies in the creation and testing of programs to ensure a stable and smooth movement of the robot along a given trajectory. Based on the capabilities of ROS, a system of hand-washing was implemented as a way of balance and stabilization. The results of the simulation demonstrate the effectiveness of the fragmented program and its production exactly follow the markers installed in the virtual middle. The study reinforces the importance of ROS for the modeling and testing of collaborative robots in the context of Industry 5.0, where interactions between people and robots are of key importance
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DILLMANN, RÜDIGER, REGINE BECHER, and PETER STEINHAUS. "ARMAR II — A LEARNING AND COOPERATIVE MULTIMODAL HUMANOID ROBOT SYSTEM." International Journal of Humanoid Robotics 01, no. 01 (2004): 143–55. http://dx.doi.org/10.1142/s0219843604000046.
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This paper gives an overview on current and forthcoming research activities of the Collaborative Research Center 588 "Humanoid Robots — Learning and Cooperating Multimodal Robots" which is located in Karlsruhe, Germany. Its research activities can be divided into the following areas: mechatronic robot system components like lightweight 7 DOF arms, 5-fingered dexterous hands, an active sensor head and a spine type central body and skills of the humanoid robot system; multimodal man-machine interfaces; augmented reality for modeling and simulation of robots, environment and user; and finally, cognitive abilities. Some of the research activities are described in this paper, and we introduce the application scenario testing the robot system. In particular, we present a robot teaching center and the execution which is of type "household."
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Fan, Bing Hui, Yi Zheng, Cheng Zhi Yuan, and Xiao Lu. "The Motion Simulation of Humanoid Robots Based on Adams." Advanced Materials Research 490-495 (March 2012): 783–87. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.783.
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This paper uses the 3D modeling software SolidWorks to establish the virtual prototype of humanoid robots. It is introduced into Adams through the interface between SolidWorks and Adams, and we made a simulation of the robot by dynamics analysis software Adams. It showed the method function expressions and torque curves of the robot, and provided reference for the motor selection and design of robot.
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Özbaltan, Mete, Nihan Özbaltan, Hazal Su Bıçakcı Yeşilkaya, Murat Demir, Cihat Şeker, and Merve Yıldırım. "Task Scheduling of Multiple Humanoid Robot Manipulators by Using Symbolic Control." Biomimetics 10, no. 6 (2025): 346. https://doi.org/10.3390/biomimetics10060346.
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Task scheduling for multiple humanoid robot manipulators in industrial and collaborative settings remains a significant challenge due to the complexity of coordination, resource sharing, and real-time decision-making. In this study, we propose a framework for modeling task scheduling for multiple humanoid robot manipulators by using the symbolic discrete controller synthesis technique. We encode the task scheduling problem as discrete events using parallel synchronous dataflow equations and apply our synthesis algorithms to manage the task scheduling of multiple humanoid robots via the resulting controller. The control objectives encompass the fundamental behaviors of the system, strict rules, and mutual exclusions over shared resources, categorized as the safety property, whereas the optimization objectives are directed toward maximizing the throughput of robot-processed products with optimal efficiency. The humanoid robots considered in this study consist of two pairs of six-degree-of-freedom (6-DOF) robot manipulators, and the inverse kinematics problem of the 6-DOF arms is addressed using metaheuristic approaches inspired by biomimetic principles. Our approach is experimentally validated, and the results demonstrate high accuracy and performance compared to other approaches reported in the literature. Our approach achieved an average efficiency improvement of 40% in 70-robot systems, 20% in 30-robot systems, and 10% in 10-robot systems in terms of production throughput compared to systems without a controller.
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Du, Qin Jun, Xue Yi Zhang, and Shi Long Zhai. "Humanoid Robot Arm Kinematics Modeling and Motion Planning." Applied Mechanics and Materials 644-650 (September 2014): 247–50. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.247.
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This paper establishes the kinematics model of humanoid robot arm, the arm forward kinematics equations were built and solved, based on the advantages of CCD (Cyclic Coordinate Descent) and BFS (Broyden-Fletcher-Shanno) algorithm to solve the inverse kinematics of humanoid robot arm. In the joint space, using cubic polynomial and quintic polynomial interpolation method respectively for each joint angle interpolation. Cubic polynomial trajectory planning can meet the point-to-point movement in general, but can not guarantee the continuity of acceleration of each point; Quintic polynomial trajectory planning can ensure that each point is continuous of the joint angle, angular velocity, and angular acceleration, so this polynomial method can meet the movement of the humanoid robot arm.
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Mi, Jian, and Yasutake Takahashi. "Humanoid Robot Motion Modeling Based on Time-Series Data Using Kernel PCA and Gaussian Process Dynamical Models." Journal of Advanced Computational Intelligence and Intelligent Informatics 22, no. 6 (2018): 965–77. http://dx.doi.org/10.20965/jaciii.2018.p0965.
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In this article, contrary to popular studies on human motion learning, we focus on addressing the problem of humanoid robot motions directly. Performances of different kernel functions with principal components analysis (PCA) in Gaussian process dynamical models (GPDM) are investigated to build efficient humanoid robot motion models. A novel kernel-PCA-GPDM method is proposed for building different types of humanoid robot motion models. Compared with the standard-PCA-GPDM and auto-encoder-GPDM methods, our proposed method is more efficient in humanoid robot motion modeling. In this work, three types of NAO robot motion models are studied: walk-model, lateral-walk model, and wave-hand model, where motion data are collected from an Aldebaran NAO robot using magnetic rotary encoder sensors. Using kernel-PCA-GPDM method, the motion data are first projected from the high 23-dimension observation space to a 3-dimension low latent space. Then, three types of humanoid robot motion models are learned in the 3D latent space. Compared with other kernel-PCA-GPDM or auto-encoder-GPDM methods, our proposed novel kernel-PCA-GPDM method performs efficiently in motion learning. Finally, we realize humanoid robot motion representation to verify the motion models that we build. The experimental results show that our proposed kernel-PCA-GPDM method builds efficient and smooth motion models.
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Kagami, Satoshi, James J. Kuffner, Koichi Nishiwaki, Kei Okada, Masayuki Inaba, and Hirochika Inoue. "Humanoid Arm Motion Planning Using Stereo Vision and RRT Search." Journal of Robotics and Mechatronics 15, no. 2 (2003): 200–207. http://dx.doi.org/10.20965/jrm.2003.p0200.
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This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.
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Yang, Jing, Jun Wu, and Rong Xiong. "Motion Modeling for Humanoid Robot Walking on Slopes." Advanced Materials Research 308-310 (August 2011): 2139–45. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2139.
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Humanoid robot is a highly nonlinear system and balance control is essential to achieve the purpose of stable walking on the plane. As for the inclined plane, the stable walking is even much more difficult. This article proposes a walking pattern with off-line planning for Humanoid robot walking on slopes, which combines the cart-table model on an inclined plane to realize stable walking. The control algorithm is implemented on our robot, experimental results show the realization of stable walking.
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Luo, Dingsheng, Yaoxiang Ding, Xiaoqiang Han, et al. "Humanoid environmental perception with Gaussian process regression." International Journal of Advanced Robotic Systems 13, no. 6 (2016): 172988141666678. http://dx.doi.org/10.1177/1729881416666783.
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Nowadays, humanoids are increasingly expected acting in the real world to complete some high-level tasks humanly and intelligently. However, this is a hard issue due to that the real world is always extremely complicated and full of miscellaneous variations. As a consequence, for a real-world-acting robot, precisely perceiving the environmental changes might be an essential premise. Unlike human being, humanoid robot usually turns out to be with much less sensors to get enough information from the real world, which further leads the environmental perception problem to be more challenging. Although it can be tackled by establishing direct sensory mappings or adopting probabilistic filtering methods, the nonlinearity and uncertainty caused by both the complexity of the environment and the high degree of freedom of the robots will result in tough modeling difficulties. In our study, with the Gaussian process regression framework, an alternative learning approach to address such a modeling problem is proposed and discussed. Meanwhile, to debase the influence derived from limited sensors, the idea of fusing multiple sensory information is also involved. To evaluate the effectiveness, with two representative environment changing tasks, that is, suffering unknown external pushing and suddenly encountering sloped terrains, the proposed approach is applied to a humanoid, which is only equipped with a three-axis gyroscope and a three-axis accelerometer. Experimental results reveal that the proposed Gaussian process regression-based approach is effective in coping with the nonlinearity and uncertainty of the humanoid environmental perception problem. Further, a humanoid balancing controller is developed, which takes the output of the Gaussian process regression-based environmental perception as the seed to activate the corresponding balancing strategy. Both simulated and hardware experiments consistently show that our approach is valuable and leads to a good base for achieving a successful balancing controller for humanoid.
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Du, Qin Jun, Xue Yi Zhang, and Xing Guo Huang. "Modeling and Analysis of a Humanoid Robot Active Stereo Vision Platform." Applied Mechanics and Materials 55-57 (May 2011): 868–71. http://dx.doi.org/10.4028/www.scientific.net/amm.55-57.868.
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Humanoid robot is not only expected to walk stably, but also is required to perform manipulation tasks autonomously in our work and living environment. This paper discusses the visual perception and the object manipulation based on visual servoing of a humanoid robot, an active robot vision model is built, and then the 3D location principle, the calibration method and precision of this model are analyzed. This active robot vision system with two DOF enlarges its visual field and the stereo is the most simple camera configuration for 3D position information.
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Kljuno, Elvedin, and Robert L. Williams. "Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control." Journal of Robotics 2010 (2010): 1–19. http://dx.doi.org/10.1155/2010/278597.
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This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.
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Chen, Xuechao, Wenxi Liao, Zhangguo Yu, Haoxiang Qi, Xinyang Jiang, and Qiang Huang. "Motion coordination for humanoid jumping using maximized joint power." Advances in Mechanical Engineering 13, no. 6 (2021): 168781402110284. http://dx.doi.org/10.1177/16878140211028448.
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Jumping capability of humanoid robots can be considered as one of the cruxes to improve the performance of future humanoid robot applications. This paper presents an optimization method on a three-linkage system to achieve a jumping behavior, which is followed by the clarification of the mathematical modeling and motor-joint model with practical factors considered. In consideration of the constraints of ZMP and the performance of the motor, the output power of the joint motors is maximized as much as possible to achieve a higher height. Finally, the optimization method is verified by the simulation and experiment. Different from other electric driven robots, which take the output power of the joint as the constraint, we maximize the output power of the joint to optimize the hopping performance of the robot. Realizing dynamic jumping of humanoid robots can also provide a solid foundation for further research on running, which can greatly enhance the environmental adaptability.
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Bajrami, Xhevahir, Peter Kopacek, Ahmet Shala, and Ramë Likaj. "Modeling and control of a humanoid robot." e & i Elektrotechnik und Informationstechnik 130, no. 2 (2013): 61–66. http://dx.doi.org/10.1007/s00502-013-0133-5.
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Varga, Martin, Filip Filakovský, and Ivan Virgala. "SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 3(17) (2019): 117–22. http://dx.doi.org/10.25140/2411-5363-2019-3(17)-117-122.
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Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.
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Heo, Hyun-Hee, and Min-Sun Kim. "The effects of multiculturalism and mechanistic disdain for robots in human-to-robot communication scenarios." Interaction Studies 14, no. 1 (2013): 81–106. http://dx.doi.org/10.1075/is.14.1.06heo.
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This study investigates the effects of cultural orientation and the degree of disdain for robots on the preferred conversational styles in human-to-robot interactions. 203 participants self-reported on questionnaires through a computer-based online survey. The two requesting situations were intended to simulate the participants’ interactions with humanoid social robots through an Internet video-phone medium of communication. Structural equation modeling was performed to examine the mediating role of mechanistic disdain between multicultural orientation and conversational constraints. The findings reveal that between the two dimensions of multicultural orientation, only open-mindedness inversely influences mechanistic disdain. Mechanistic disdain, in turn, negatively affects three face-related conversational constraints, thereby leading to a lesser concern for robots’ feelings, for minimizing impositions on robots, and for avoiding robots’ negative evaluations. The implications of our findings on humans’ relations with virtual robot entities and on the future development of humanoid robots are discussed.
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Mammadova, K. A., and Z. S. Nasibzade. "Modeling the THBIP-1 Humanoid Robot Control System." Herald of Azerbaijan Engineering Academy 16, no. 3 (2024): 94–104. https://doi.org/10.52171/2076-0515_2024_16_03_94_104.
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The paper presents a gait planning method and control strategy for THBIP-1 (Tsinghua BipedHumanoid Robot) to realize stable gait. Our research was carried out in three directions: the study ofhuman walking properties by energy analysis, the development of an experimental humanoid robotapparatus, and the study of a natural dynamic gait and balance control scheme. The main goal of creating ahumanoid robot is to replace humans in jobs that are dangerous or repetitive for humans. This robotincludes a head, torso, two arms, two legs, totaling 32 DOFs (degrees of freedom). This project aims torealize stable walking in different environments for an autonomous humanoid robot. First, design issuesincluding the robot's mechanical structure and control architecture are defined. Second, a gait generationmethod based on the optimization of the main support leg is presented, and a control strategy consisting ofa local joint controller and a sensor feedback controller is also described. As a result of the analysis of therobot's walking experiments, it was determined that the robot has the ability to walk stably on the ground,rotate in any direction, and climb up/down the stairs.
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Semasinghe, Chathura, Drake Taylor, and Siavash Rezazadeh. "The Design and Manufacturing of Mithra: A Humanoid Robot with Anthropomorphic Attributes and High-Performance Actuators." Robotics 14, no. 3 (2025): 28. https://doi.org/10.3390/robotics14030028.
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While the concept of humanoid robots stems from the goal of replicating human movement, these systems have yet to match the elegance and efficiency of human locomotion. A key reason for this gap is that current humanoid robots differ from humans in their kinematics, dynamics, and actuator properties. This work seeks to close that gap by designing an optimized humanoid robot with characteristics closely resembling those of an average human. For this purpose, we built a detailed framework for the in-depth electromechanical modeling of actuator components. This model was used in the comprehensive optimization of the robot’s actuator system, which was designed as a multi-objective scheme based on the objectives introduced in our previous work. This process helped both in achieving efficient and high-performance actuators and in streamlining the design of the structural parts to have mass and inertia distributions similar to those of humans. The proposed design process was utilized in the design of our humanoid robot, Mithra. Initial test showed that Mithra achieved its design goals in terms of human-like kinematics and dynamics characteristics, together with sufficient actuator strength for tasks such as stair navigation, squatting, and running.
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Kahraman, Cengiz, Eda Boltürk, Sezi Cevik Onar, and Basar Oztaysi. "Modeling humanoid robots facial expressions using Pythagorean fuzzy sets." Journal of Intelligent & Fuzzy Systems 39, no. 5 (2020): 6507–15. http://dx.doi.org/10.3233/jifs-189114.
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Pythagorean fuzzy sets (PFS) are an extension of intuitionistic fuzzy sets introduced by Atanassov [1]. PFSs have the advantage of providing larger domains for assigning membership and non-membership degrees satisfying that their squared sum is at most equal to one. PFS have been often used in modeling the problems under vagueness and impreciseness in order to better define the problems together with the hesitancy of decision makers. Different human emotions and behaviors can be modeled in humanoid robots (HR) by fuzzy sets. In this paper, facial expressions of a humanoid robot are modeled depending on the degrees of the emotions. Larger degree of emotion causes a stronger indicator of the facial mimic.
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Muhammad, Ramadhan Hadi Setyawan, Sanggar Dewanto Raden, Sandi Marta Bayu, Henfri Binugroho Eko, and Pramadihanto Dadet. "Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping." International Journal of Electrical and Computer Engineering (IJECE) 13, no. 1 (2023): 288–98. https://doi.org/10.11591/ijece.v13i1.pp288-298.
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The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the endeffector and target positions in path planning of 0.1 cm.
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Bai, Keqiang, Yunzhi Luo, Guanwu Jiang, Guoli Jiang, and Li Guo. "High torque realization of the stepping over gait for a humanoid robot." Industrial Robot: the international journal of robotics research and application 47, no. 4 (2020): 473–87. http://dx.doi.org/10.1108/ir-10-2019-0206.
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Purpose This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque. Design/methodology/approach First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles. Findings The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation. Originality/value The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.
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Kashyap, Abhishek Kumar, Dayal R. Parhi, and Saroj Kumar. "Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing." International Journal of Humanoid Robotics 17, no. 03 (2020): 2050014. http://dx.doi.org/10.1142/s0219843620500140.
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The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system. In this paper, the complete dynamics of the humanoid robot has been described in essence of torque calculation at the end effectors. Presence of various restraints in humanoid robot motion makes the task of stabilization an even humongous one. Therefore, to neutralize these constraints, whole-body control (WBC) has been proposed to consider the free-floating base and to ensure the stability of the humanoid robot. Dynamic modeling of the humanoid robot is performed based on the Langrage–Euler formalism to obtain the maximum torque at the joints. This approach is utilized to formulate the torque equation and solve the problem of stabilization. WBC deals with the limitation of attainment of well nimble dynamics behavior operated at high speeds. The simulated annealing approach is preferred to tune WBC to get efficient stabilization and eliminate the earlier limitation. In addition, the zero-moment point (ZMP) criterion is taken care of as it affects the stability of the humanoid robot aggressively. Simulations on V-REP are carried out to understand the torque behavior at each joint. To validate the simulation results, the experiments are carried out on the NAO humanoid robot in real experimental conditions. The experimental and simulation results are compared through torque versus time graphs, and they both show good agreement with deviation under 4% between them. The proposed technique is then compared with various previously implemented techniques which confirm the robustness and efficiency of the proposed methodology.
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Khan, Muhammad Imran, Abdul Mannan Khan, Muhammad Khurram Saleem, and Ahmed Nouman. "Development of Efficient Tactile Sensing System for Humanoid Robotics." Applied Mechanics and Materials 232 (November 2012): 372–76. http://dx.doi.org/10.4028/www.scientific.net/amm.232.372.
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This paper is related to the development of ASIC for tactile sensing system in humanoid robots. First of all, it is necessary to choose the best sensor for tactile sensing in humanoid robots. A large number of sensors like capacitive, resistive, piezoresistive, tunnel effective, optical, ultrasonic, magnetism based, piezoelectric sensors are available in market for tactile sensing. Not all the sensors are suitable for tactile sensing at all locations of humanoid robotics. We need to use different sensors for different locations in humanoid robotics like fingerprints and belly. Fingerprints of robot are most important part where we need a huge number of sensors on a limited place. As we need a large amount of data for exact modeling of properties contact surface so we require data from a large number of tactile sensors and hence we need to develop an array of tactile sensors.
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Djukić, Verislav, Dragana Oros, Marko Penčić, and Zhenli Lu. "Application of domain-specific modeling in kinetography and bipedal humanoid robot control." PeerJ Computer Science 11 (May 27, 2025): e2864. https://doi.org/10.7717/peerj-cs.2864.
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The article presents a new approach in the development of software for bipedal humanoid robot controllers, based on the construction and application of graphic domain-specific languages (DSLs). The notations used to describe dance movements and gestures are typical examples of DSLs. With certain extensions, related to the description of foot topology, sensors and actuators, such DSLs are applicable for modeling dance movements that would be performed by a robot. The existing software development methodologies in robotics have a purely mechanistic approach to understanding and implementing robotic tasks. Such an approach in humanoid robotics complicates the understanding of the problem, as well as the specification and implementation of solutions. Our approach, which uses DSLs, adopts complex movements and gestures performed by the feet of dancers using professional dancers, people with above-average motor skills, as reference. We believe that the developed software can also be successfully applied to assistive robots that would help people with special needs whose mobility is significantly lower than average.
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Aneke, E.C., and M.I Chukwuagu. "IMPROVED INTELLIGENT BASE TECHNIQUE FOR PATH AND SOLUTION IN ROBOTIC USING PREWILL EDGE DETECTION PARADIGM." Engineering and Technology Journal 07, no. 11 (2022): 1690–718. https://doi.org/10.5281/zenodo.7347409.
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The major contribution in this research paper is concerned with the development of a humanoid robot using edge detection technique which selects features of the principal parts of the object and eliminates parts that are not necessary. The developed prototype of the motorized robot shows that robots in real life exhibit some level of intelligence. In the design process, the model of a humanoid robot was developed first using the simulink library tools in Matlab/Simulink environment. This research paper has improved autonomous path finding robots by incorporating very powerful and well-structured program/codes that gives the robot the ability to predict and make smart decision lending to efficient execution of desired assignment (picking of dirt in the surrounding).Result shows that the developed robot has simplified the way No robot interacts with object thereby saving cost and energy. A motorized autonomous path finding robot was designed and constructed to demonstrate the working principle of robot. The motorized robot and the humanoid robot have the capability to detect obstacle along its part at 30cm away from the obstacle. When the robot is switched on, it initializes after which forward movement until it gets 30cm closer to an obstacle it then stops, reverse backwards and then change direction. When it moves 30cm close to another obstacle, it stops reverse backwards, then turns left or right to another direction, and will continue to behave that way until the power button is switched off.
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Yu, Jun, Shuaishuai Zhang, Aihui Wang, Wei Li, and Lulu Song. "Musculoskeletal modeling and humanoid control of robots based on human gait data." PeerJ Computer Science 7 (August 9, 2021): e657. http://dx.doi.org/10.7717/peerj-cs.657.
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The emergence of exoskeleton rehabilitation training has brought good news to patients with limb dysfunction. Rehabilitation robots are used to assist patients with limb rehabilitation training and play an essential role in promoting the patient’s sports function with limb disease restoring to daily life. In order to improve the rehabilitation treatment, various studies based on human dynamics and motion mechanisms are still being conducted to create more effective rehabilitation training. In this paper, considering the human biological musculoskeletal dynamics model, a humanoid control of robots based on human gait data collected from normal human gait movements with OpenSim is investigated. First, the establishment of the musculoskeletal model in OpenSim, inverse kinematics, and inverse dynamics are introduced. Second, accurate human-like motion analysis on the three-dimensional motion data obtained in these processes is discussed. Finally, a classic PD control method combined with the characteristics of the human motion mechanism is proposed. The method takes the angle values calculated by the inverse kinematics of the musculoskeletal model as a benchmark, then uses MATLAB to verify the simulation of the lower extremity exoskeleton robot. The simulation results show that the flexibility and followability of the method improves the safety and effectiveness of the lower limb rehabilitation exoskeleton robot for rehabilitation training. The value of this paper is also to provide theoretical and data support for the anthropomorphic control of the rehabilitation exoskeleton robot in the future.
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Setyawan, Muhammad Ramadhan Hadi, Raden Sanggar Dewanto, Bayu Sandi Marta, Eko Henfri Binugroho, and Dadet Pramadihanto. "Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping." International Journal of Electrical and Computer Engineering (IJECE) 13, no. 1 (2023): 288. http://dx.doi.org/10.11591/ijece.v13i1.pp288-298.
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<span lang="EN-US">The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the end-effector and target positions in path planning of 0.1 cm.</span>
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Dr., ASHOK KUMAR RAMADOSS. "Modeling and Recognizing Grounded response as events in Human Robot Interaction through iterative sensory data integration using semi autonomy algorithm and neuronally implementation with Kinematics Control using Deep Belief Network (DBN) in Deep Learning." International Journal of Novel Research and Development 10, no. 1 (2025): c569—c590. https://doi.org/10.5281/zenodo.14892951.
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For Human Robot Interaction we believe that a robot should model and recognize a set of grounded responses that are built from knowledge about the nature of the interaction situation, and should also be able to ground responses that are found by semantics-free contingency detection.To carry out Research on Humanoid Robot effectively first in the absence of hardware support then building a Humanoid Robot for achieving data concurency by integerating data by the fusion of sensory datas in the humanoid robot .Multi Sensor fusion Studies for Dynamics, Kinematics thereby achieving Human Robot Interaction by sensory data integeration by sensor fusion for range detecting by vision and navigation using simulink model and humanoid robot prototype. For this a Simulation Platform could be designed which is easy to operate by using Virtual Reality Modeling Language technology and can be 3D simulated and the simulation results are more intuitive. Within the current framework, we can model and recognize grounded responses as events. As future work, we will investigate how to attribute semantics to ungrounded responses through iterative interactions and finaly by sensor fusion using pattern recognition and predicting with accuracy and reliability by bringing the source data closer to the analyzed data and predicted data with that of actual data using edge computing.An ideal contingency detector should be able to accept a variety of sensory cues, because certain perceptual and social cues are more informative for some interactional situations than for others.In this Research, we could present a simple and reliable approach of creating humanoid robot platform based on the ROBO OS and modeling language using ubuntu Linux.Another goal is to investigate the general potential of SFA for using it within sensorimotor loops which to our knowledge has not been considered until now. The application of SFA within sensorimotor loops is motivated by pointing out its relation to second order Volterra filters. Our experiments show that the overall reactivity of the gait pattern increases without any profound loss in stability, and that SFA appears to be suitable for the usage even at such levels of sensorimotor control that are directly involved into motor activity regulation.This work is concerned on sensitivity analysis of semi autonomy algorithm of humanoid robot to environmental sensors’ failures. The construction of the robot, semi autonomy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocities. This algorithm takes also into account environmental sensors’ damage by modifying the behavior of robot in accordance to actual sensors’ set state of health. Simulation research using ROBOS/Simulink package and experimental tests’ results of semi autonomy algorithm were presented.The experimental tests were carried out in outdoor conditions. The research and tests were performed for normal environmental sensors’ operation and for selected sensors’ damage. On that basis, sensitivity of semi autonomy algorithm to selected environmental sensors damage was tested.
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Bharadwaj, Deepak, Natraj Mishra, and Maheshwar Pathak. "Kinematic and Singularity Analysis of 10 DOF Lower Body of Humanoid Robot." Mathematical Modelling of Engineering Problems 9, no. 2 (2022): 484–90. http://dx.doi.org/10.18280/mmep.090226.
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With the existing kinematic configuration of a humanoid robot, fast turning is the main issue encountered. The joint orientation of the lower body of a humanoid robot does not allow the system to move fast. The first joint of the existing setup is started with the rotary joint vertically up z-direction. A change in the joint orientation had been proposed for the kinematic configuration of the humanoid robot. The first joint in this proposed work is the revolute joint along the x-direction of movement. Forward and inverse kinematics were obtained for the maximum value of the reach of the leg in the environment. Jacobian was described for every joint. Singularity posture was obtained at the location.
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Clever, Debora, Yue Hu, and Katja Mombaur. "Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings." International Journal of Robotics Research 37, no. 10 (2018): 1184–204. http://dx.doi.org/10.1177/0278364918765620.
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In this paper, we present an inverse optimal control-based transfer of motions from human experiments to humanoid robots and apply it to walking in constrained environments. To this end, we introduce a 3D template model, which describes motion on the basis of center-of-mass trajectory, foot trajectories, upper-body orientation, and phase duration. Despite its abstract architecture, with prismatic joints combined with damped series elastic actuators instead of knees, the model (including dynamics and constraints) is suitable for describing both human and humanoid locomotion with appropriate parameters. We present and apply an inverse optimal control approach to identify optimality criteria based on human motion capture experiments. The identified optimal strategy is then transferred to a humanoid robot template model for gait generation by solving an optimal control problem, which takes into account the properties of the robot and differences in the environment. The results of this step are the center-of-mass trajectory, the foot trajectories, the torso orientation, and the single and double support phase durations for a sequence of steps, allowing the humanoid robot to walk within a new environment. In a previous paper, we have already presented one computational cycle (from motion capture data to an optimized robot template motion) for the example of walking over irregular stepping stones with the aim of transferring the motion to two very different humanoid robots (iCub@Heidelberg and HRP-2@LAAS). This study represents an extension, containing an entirely new part on the transfer of the optimized template motion to the iCub robot by means of inverse kinematics in a dynamic simulation environment and also on the real robot.
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Mostafaoui, Ghiles, R. C. Schmidt, Syed Khursheed Hasnain, Robin Salesse, and Ludovic Marin. "Human unintentional and intentional interpersonal coordination in interaction with a humanoid robot." PLOS ONE 17, no. 1 (2022): e0261174. http://dx.doi.org/10.1371/journal.pone.0261174.
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In order to establish natural social synchrony between two humans, two requirements need to be fulfilled. First, the coupling must be bi-directional. The two humans react to each other’s actions. Second, natural social bodily synchronization has to be intentional or unintentional. Assuming that these essential aspects of human-human interactions are present, the present paper investigates whether similar bodily synchrony emerges between an interacting human and an artificial agent such as a robot. More precisely, we investigate whether the same human unintentional rhythmic entrainment and synchronization is present in Human Robot Interaction (HRI). We also evaluate which model (e.g., an adaptive vs non adaptive robot) better reproduces such unintentional entrainment. And finally, we compare interagent coordination stability of the HRI under 1) unidirectional (robot with fixed frequency) versus bidirectional (robot with adaptive frequency) rhythmic entrainment and 2) human intentional versus unintentional coupling. Fifteen young adults made vertical arm movements in front of the NAO robot under five different conditions of intentional/unintentional and unidirectional/bidirectional interactions. Consistent with prior research investigating human-human interpersonal coordination, when humans interact with our robot, (i) unintentional entrainment was present, (ii) bi-directional coupling produced more stable in-phase un-intentional and intentional coordination, (iii) and intentional coordination was more stable than unintentional coordination. To conclude, this study provides a foundation for modeling future social robots involving unintentional and bidirectional synchronization—aspects which seem to enhance humans’ willingness to interact with robots.
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Mohan, Rajesh Elara, Carlos Antonio Acosta Calderon, Changjiu Zhou, and Pik Kong Yue. "Extending NGOMSL Model for Human-Humanoid Robot Interaction in the Soccer Robotics Domain." Applied Bionics and Biomechanics 5, no. 4 (2008): 235–41. http://dx.doi.org/10.1155/2008/104602.
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In the field of human-computer interaction, the Natural Goals, Operators, Methods, and Selection rules Language (NGOMSL) model is one of the most popular methods for modelling knowledge and cognitive processes for rapid usability evaluation. The NGOMSL model is a description of the knowledge that a user must possess to operate the system represented as elementary actions for effective usability evaluations. In the last few years, mobile robots have been exhibiting a stronger presence in commercial markets and very little work has been done with NGOMSL modelling for usability evaluations in the human-robot interaction discipline. This paper focuses on extending the NGOMSL model for usability evaluation of human-humanoid robot interaction in the soccer robotics domain. The NGOMSL modelled human-humanoid interaction design of Robo-Erectus Junior was evaluated and the results of the experiments showed that the interaction design was able to find faults in an average time of 23.84 s. Also, the interaction design was able to detect the fault within the 60 s in 100% of the cases. The Evaluated Interaction design was adopted by our Robo-Erectus Junior version of humanoid robots in the RoboCup 2007 humanoid soccer league.
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Ozawa, Mikio, Daiki Kato, Hiroaki Hanai, Toshiki Hirogaki, and Eiichi Aoyama. "Skillful Manipulation of Electronic Musical-Note-Type Instrument Using Industrial Humanoid Robot." International Journal of Mechanical Engineering and Robotics Research 13, no. 3 (2024): 325–30. http://dx.doi.org/10.18178/ijmerr.13.3.325-330.
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Industrial robots contribute significantly to productivity improvements, quality improvements, and cost reductions at production sites. Among the industrial robots, those that can cooperate with humans without safety measures or output limitations on the motors of their axes are known as cooperative robots. In the manufacturing field, there is a growing demand for production lines where humans and robots can coexist and cooperate instead of those where robots perform all processes on their own. In this study, we focus on a cooperative robot fabricated using a 3D resin printer and aim to improve its operation using the same tools as humans. As an example of such an application, we attempt to develop a sound-feedback-based motion for manipulating an electronic musical instrument called an “otamatone”. First, the hardware for grasping the object is created using a 3D printer, and notes on the modeling process are described. We then construct an advanced sound feedback system using the Robot Operating System (ROS) to identify the sounding position and pitch of the instrument. In this study, we propose a partial model-matching method for determining the Proportional–Integral–Derivative (PID) gains of the servomotors of each joint of a robot. Consequently, the accuracy of the robot’s motion improves and the accuracy of the intended musical performance is enhanced.
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Bharadwaj, Deepak, and Durga Dutt. "Mathematical Modeling and Control Architecture of the Autonomous Lower Body of a Humanoid Robot." Mathematical Modelling of Engineering Problems 9, no. 6 (2022): 1730–40. http://dx.doi.org/10.18280/mmep.090635.
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Joint controlling is n issues in humanoid robotics. Due to large number of joint present in the humanoid robot, nonlinearity causes the problem for a smooth walk. Processor has to do a lot of computation before the execution of the operation. Due to Serial and parallel linkages of Human manipulator structure, controlling is done with the mixed mode of the operation. The Central pattern generator (CPG) controller architecture were adopted for the such type of operation. CPG controller system interact with the environment and generates the task for the joint using the trajectory control. A simple master-slave control architecture was implemented for the controlling of the lower body of a humanoid robot trajectory. The nonlinearity was minimized by selecting the popper gear ratio. The stiffness and damping designed based on the natural frequency of the system. The controller design was optimized at damping factor 1. The structur
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Xhevahir, Bajrami, Shala Ahmet, Hoxha Gezim, and Likaj Rame. "Dynamic Modelling and Analyzing of a Walking of Humanoid Robot." Strojnícky casopis – Journal of Mechanical Engineering 68, no. 3 (2018): 59–76. http://dx.doi.org/10.2478/scjme-2018-0027.
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AbstractThis paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.
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BECHER, REGINE, PETER STEINHAUS, and RÜDIGER DILLMANN. "THE COLLABORATIVE RESEARCH CENTER 588: "HUMANOID ROBOTS — LEARNING AND COOPERATING MULTIMODAL ROBOTS"." International Journal of Humanoid Robotics 01, no. 03 (2004): 429–48. http://dx.doi.org/10.1142/s0219843604000204.
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This paper gives an overview of the current and forthcoming research projects of the Collaborative Research Center 588 "Humanoid Robots — Learning and Cooperating Multimodal Robots." The activities can be divided into several areas: development of mechatronic components and construction of a demonstrator system, perception of user and environment, modeling and simulation of robots, environment and user, and finally cooperation and learning. The research activities in each of these areas are described in detail. Finally, we give an insight into the application scenario of our robot system, i.e. the training setup and the experimental setup "household."
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Wahrmann, Daniel, Arne-Christoph Hildebrandt, Tamas Bates, et al. "Vision-Based 3D Modeling of Unknown Dynamic Environments for Real-Time Humanoid Navigation." International Journal of Humanoid Robotics 16, no. 01 (2019): 1950002. http://dx.doi.org/10.1142/s0219843619500026.
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In order to achieve real autonomy, robots have to be able to navigate in completely unknown environments. Due to the complexity of computer vision algorithms, almost every approach for robotic navigation is either based on previous knowledge of the environment, such as markers or as resulting from learning methods, or makes strong simplifying assumptions about it (height-map representations, static scenarios). While showing impressive success in certain applications, these approaches limit the potential of legged robots to achieve the amazing flexibility of humans in more complex environments. In this work, we present a strategy for full 3D vision processing that is able to handle changing, dynamic environments. These are modeled using 3D geometries that are processed in real-time by the motion planner of our biped robot Lola for avoiding moving obstacles and walking over platforms. In order to allow for a more intuitive development of such systems in the future, we present tools for visualization including two mixed reality applications using both an external camera and Microsoft’s HoloLens. We validate our system in simulations and experiments with our full-size humanoid robot Lola and publish our framework open source for the benefit of the community.
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Wang, Jiwu, and Junxiang Xu. "Kinematic modeling and Simulation of humanoid dual-arm robot." Proceedings of International Conference on Artificial Life and Robotics 26 (January 21, 2021): 381–84. http://dx.doi.org/10.5954/icarob.2021.os17-1.
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Virgala, Ivan, Michal Kelemen, Martin Varga, and Piotr Kuryło. "Analyzing, Modeling and Simulation of Humanoid Robot Hand Motion." Procedia Engineering 96 (2014): 489–99. http://dx.doi.org/10.1016/j.proeng.2014.12.121.
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Shahbazi, Hamed, Kamal Jamshidi, and Amir Hasan Monadjemi. "Modeling of mesencephalic locomotor region for Nao humanoid robot." Industrial Robot: An International Journal 39, no. 2 (2012): 136–45. http://dx.doi.org/10.1108/01439911211201591.
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Virgala, Ivan, Alexander Gmiterko, Michal Kelemen, Ľubica Miková, and Martin Varga. "Inverse Kinematic Model of Humanoid Robot Hand." Applied Mechanics and Materials 611 (August 2014): 75–82. http://dx.doi.org/10.4028/www.scientific.net/amm.611.75.
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Our study deals with inverse kinematic model of humanoid robot hand. It is important for modeling to know biomechanics of biological human hand, what is discussed in the second section. Based on theoretical aspect of kinematic configuration of the hand, the hand consisting of 24 degrees of freedom is assumed. Subsequently, there are four numerical methods of inverse kinematics used, namely pseudoinverse method, Jacobian transpose method, damped least squares and optimization method. Each of them is simulated in software Matlab and the results are compared and discussed. In the conclusion the best method from the view of solution time and number of iteration cycles is evaluated.
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Huai, Chuang Feng, and Xue Yan Jia. "Modeling and Control System Simulation for 7-Link Biped Robot." Applied Mechanics and Materials 431 (October 2013): 262–68. http://dx.doi.org/10.4028/www.scientific.net/amm.431.262.
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Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.