5th IEEE-RAS International Conference on Humanoid Robots, 2005.最新文献

Modelling of the shoulder complex and application the design of upper extremities for humanoid robots 肩复合体建模及其在仿人机器人上肢设计中的应用

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573586

B. Tondu

引用次数: 22

A pneumatic biped: experimental walking results and compliance adaptation experiments 一种气动双足动物:实验行走结果及顺应性适应实验

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573543

B. Vanderborght, B. Verrelst, R. Ham, M. Damme, D. Lefeber

{"title":"A pneumatic biped: experimental walking results and compliance adaptation experiments","authors":"B. Vanderborght, B. Verrelst, R. Ham, M. Damme, D. Lefeber","doi":"10.1109/ICHR.2005.1573543","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573543","url":null,"abstract":"This paper reports on the control structure of the pneumatic biped Lucy. The robot is actuated with pleated pneumatic artificial muscles, which have interesting characteristics that can be exploited for legged locomotion. They have a high power to weight ratio, an adaptable compliance and they can absorb impact effects. In a first part of this paper a discussion on the control architecture, which focuses on the joint trajectory generator and the joint trajectory tracking controller, is given. The trajectory generator calculates trajectories represented by polynomials based on objective locomotion parameters, which are average forward speed, step length, step height and intermediate foot lift. The joint trajectory tracking controller is divided in three parts: a computed torque module, a delta-p unit and a bang-bang pressure controller. The first results of the incorporation of this control architecture in the real biped Lucy are given. Several essential graphs showing tracking performance and pressure regulation are given and the effectiveness of the control algorithm is discussed. A second part of the paper focusses on compliance adaptation which is used for exploitation of the natural dynamics with respect to different walking patterns. A mathematical formulation for this purpose is explained. The compliance adaptation strategy is not yet implemented for the robot Lucy, but some experimental results are given for a one DOF pendulum structure. These clearly show the effectiveness and importance of the adaptation strategy","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"670 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121994735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

A cognitive architecture for a humanoid robot: a first approach 类人机器人的认知架构:第一种方法

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573593

C. Burghart, R. Mikut, R. Stiefelhagen, T. Asfour, H. Holzapfel, P. Steinhaus, R. Dillmann

引用次数: 85

On-site humanoid navigation through hand-in-hand interface 现场人形导航通过手拉手界面

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573564

T. Ogura, A. Haneda, K. Okada, M. Inaba

引用次数: 0

Primitive communication of humanoid robot with human via hierarchical mimesis model on the proto symbol space 在原型符号空间上建立仿人机器人与人的原始交流

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573563

W. Takano, K. Yamane, Yoshihiko Nakamura

引用次数: 6

Optimization based gait pattern generation for a biped robot 基于优化的双足机器人步态模式生成

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573552

T. Buschmann, S. Lohmeier, H. Ulbrich, F. Pfeiffer

引用次数: 32

Development of muscle-driven flexible-spine humanoids 肌肉驱动的柔性脊柱类人机器人的发展

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573590

I. Mizuuchi, T. Yoshikai, Y. Nakanishi, Yoshinao Sodeyama, Taichi Yamamoto, Akihiko Miyadera, Tuomas Niemelä, Marika Hayashi, Junichi Urata, M. Inaba

引用次数: 28

Robot command, interrogation and teaching via social interaction 通过社会互动对机器人进行指挥、讯问和教学

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573612

Peter Ford Dominey, Manuel Alvarez, Bin Gao, Marc Jeambrun, A. Cheylus, A. Weitzenfeld, Adrian Martinez, Antonio Medrano

{"title":"Robot command, interrogation and teaching via social interaction","authors":"Peter Ford Dominey, Manuel Alvarez, Bin Gao, Marc Jeambrun, A. Cheylus, A. Weitzenfeld, Adrian Martinez, Antonio Medrano","doi":"10.1109/ICHR.2005.1573612","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573612","url":null,"abstract":"The development of high performance humanoid robots provide complex systems with which humans must interact, and levy serious requirements on the quality and depth of these interactions. At the same time, developments in spoken language technology, and in theories of social cognition and intentional cooperative behavior provide the technical basis and theoretical background respectively for the technical specification of how these systems can work. The objective of the current research is to develop a generalized approach for human-machine interaction via spoken language that exploits recent developments in cognitive science - particularly notions of grammatical constructions as form-meaning mappings in language, and notions of shared intentions as distributed plans for interaction and collaboration. We demonstrate this approach on two distinct robot platforms with human-robot interaction at three levels. The first level is that of commanding or directing the behavior of the system. The second level is that of interrogating or requesting an explanation from the system. The third and most advanced level is that of teaching the machine a new form of behavior. Within this context, we exploit social interaction in two manners. First, the robot identifies different human collaborators, and maintain a permanent record of their interactions in order to treat novices and experts in distinct manners. Second, the interactions are structured around shared intentions that guide the interactions in an ergonomic manner. We explore these aspects of communication on two distinct robotic platforms, the \"Event Perceiver\" and the Sony Aibo ERS7, and provide in the current paper the state of advancement of this work, and the initial lessons learned","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117292294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 33

Mortality salience and the uncanny valley 死亡率的显著性和恐怖谷

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573600

K. Macdorman

引用次数: 54

Estimating pose from depth image streams 从深度图像流估计姿态

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573561

K. Fujimura, Youding Zhu, V. Ng-Thow-Hing

引用次数: 6