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

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Obrero: a platform for sensitive manipulation Obrero:敏感操作的平台
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573588
Eduardo Torres-Jara
{"title":"Obrero: a platform for sensitive manipulation","authors":"Eduardo Torres-Jara","doi":"10.1109/ICHR.2005.1573588","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573588","url":null,"abstract":"We are interested in developing sensitive manipulation for humanoid robots: manipulation that is as much about perception as action and is intrinsically responsive to the properties of the object being manipulated; manipulation that does not rely on vision as the main sensor but as a complement. As a first step to achieve sensitive manipulation we have built Obrero, a robotic platform that addresses some of the challenges of this kind of manipulation. In this paper, we present the design, construction and evaluation of this robot. Obrero consists of a very sensitive and force controlled hand, a force controlled arm, and an active vision head. These parts are integrated by a high-speed communication network. The robot is programmed using behavior-based architecture to deal with unknown environments","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"1 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":"116158983","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: 35
Design concept of a human-like robot head 人形机器人头部的设计概念
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573541
K. Berns, T. Braun
{"title":"Design concept of a human-like robot head","authors":"K. Berns, T. Braun","doi":"10.1109/ICHR.2005.1573541","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573541","url":null,"abstract":"For humanoid robots able to assist humans in their daily life, the capability for adequate interaction with human operators is a key feature. If one considers that more than 60% of human communication is conducted non-verbally (by using facial expressions and gestures), an important research topic is how interfaces for this non-verbal communication can be developed. To achieve this goal, several robotic heads have been designed. However, it remains unclear how exactly such a head should look like and what skills it should have to be able to interact properly with humans. This paper describes an approach that aims at answering some of these design choices. Based on parameters obtained from a simulation system that was used to test facial expressions, the design of a human-like head developed at the University of Kaiserslautern is described. Additionally, the mechatronical design of the head and the accompanying neck joint are given. Finally, a real-time capable method for image based face detection is presented, which is a basic ability needed for interaction with humans","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"14 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":"116842592","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: 31
Swing leg retraction helps biped walking stability 摆动腿的收缩有助于两足行走的稳定性
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573583
M. Wisse, C. Atkeson, D. K. Kloimwieder
{"title":"Swing leg retraction helps biped walking stability","authors":"M. Wisse, C. Atkeson, D. K. Kloimwieder","doi":"10.1109/ICHR.2005.1573583","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573583","url":null,"abstract":"In human walking, the swing leg moves backward just prior to ground contact, i.e. the relative angle between the thighs is decreasing. We hypothesized that this swing leg retraction may have a positive effect on gait stability, because similar effects have been reported in passive dynamic walking models, in running models, and in robot juggling. For this study, we use a simple inverted pendulum model for the stance leg. The swing leg is assumed to accurately follow a time-based trajectory. The model walks down a shallow slope for energy input which is balanced by the impact losses at heel strike. With this model we show that a mild retraction speed indeed improves stability, while gaits without a retraction phase (the swing leg keeps moving forward) are consistently unstable. By walking with shorter steps or on a steeper slope, the range of stable retraction speeds increases, suggesting a better robustness. The conclusions of this paper are therefore two-fold; (1) use a mild swing leg retraction speed for better stability, and (2) walking faster is easier","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"51 8 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":"126354968","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: 94
Design of a biomimetic upper body for the humanoid robot Robota 仿人机器人Robota的仿生上半身设计
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573545
F. Guenter, L. Roos, A. Guignard, A. Billard
{"title":"Design of a biomimetic upper body for the humanoid robot Robota","authors":"F. Guenter, L. Roos, A. Guignard, A. Billard","doi":"10.1109/ICHR.2005.1573545","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573545","url":null,"abstract":"This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In particular, it requires that the robot bears a human likeness both in its body features and in the kinematics of its motions. In this paper, we present the design of a 23 degrees of freedom upper body for Robota, including a 3 DOFs spine, two 7 DOFs arm, a 3 DOFs pair of eyes and a 3 DOFs neck","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"31 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":"122986483","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: 26
Imitation bootstrapping: experiments on a robotic hand 模仿自举:机械手上的实验
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573566
Erhan Öztop, T. Chaminade, G. Cheng, M. Kawato
{"title":"Imitation bootstrapping: experiments on a robotic hand","authors":"Erhan Öztop, T. Chaminade, G. Cheng, M. Kawato","doi":"10.1109/ICHR.2005.1573566","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573566","url":null,"abstract":"Imitation is a vast topic for both human sciences and robotics. Recent advances in the understanding of the neural mechanisms of imitation offer methodologies that bring the two research domains closer. In this paper we analyze how an imitation system can be bootstrapped from a non-imitative system at an abstract level so that the ideas derived can be applicable to infant development as well as robotics implementation. The main idea put forward is that all the imitation learning systems -whether artificial or not-can be broadly seen as learning by self-observation or social learning. Human infants possibly make use of both during development. This study explores imitation learning on a robotic hand platform using connectionist architecture with minimal conventional engineering approach to imitation. In the paper we present the details of the implementation and discuss the implications of our results. This study, at a higher level, serves as an example how the interplay between brain sciences and robotics can not only guide us in building human-like behaving machines but also help us understand the mechanisms of human behavior","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"66 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":"123879990","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: 16
Pedaling by a redundant musculo-skeletal humanoid robot 由一个冗余的肌肉骨骼人形机器人踩踏板
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573547
Y. Nakanishi, I. Mizuuchi, T. Yoshikai, T. Inamura, M. Inaba
{"title":"Pedaling by a redundant musculo-skeletal humanoid robot","authors":"Y. Nakanishi, I. Mizuuchi, T. Yoshikai, T. Inamura, M. Inaba","doi":"10.1109/ICHR.2005.1573547","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573547","url":null,"abstract":"We aim to realize a humanoid system which can do natural motions like human. Pedaling a cycle is a very essential motion including many problems for a humanoid system, such as mutual interaction with environments, optimization of load distribution and so on. We insist that a humanoid should have more redundancy, flexibility and complexity to solve these problems. But, the more redundant a humanoid's body becomes, the more important a software system of a humanoid control is. We present a system which can acquire its own body information by a self repeated training of the real humanoid and can be used for realization of pedaling of a human-like redundant and complicated musculo-skeletal humanoid. This paper discusses general problems of pedaling a cycle and the required specifications of the self-training system and describes the hardware setup required for pedaling. We also carried out some experiments to show the feasibility of this system","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"78 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":"126098019","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: 14
From sensorimotor development to object perception 从感觉运动发展到物体感知
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573572
L. Natale, Francesco Orabona, F. Berton, G. Metta, G. Sandini
{"title":"From sensorimotor development to object perception","authors":"L. Natale, Francesco Orabona, F. Berton, G. Metta, G. Sandini","doi":"10.1109/ICHR.2005.1573572","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573572","url":null,"abstract":"This paper describes a developmental sequence that allows a humanoid robot to learn about the shape of its body and successively about certain parts of the environment. We equipped the humanoid robot with an initial set of motor and perceptual competencies ranging from simple stereotyped actions to more sophisticated visual routines providing a bottom-up attention system. This initial form of sensorimotor coordination is sufficient to initiate the interaction with the environment and allows the robot to improve its motor and perceptual skills by first constructing a \"body-schema\" and later by learning about objects. The body-schema allows controlling movements to fixate, reach and touch objects in the environment. The interaction is further used to form a visual model of the objects grasped by the robot which eventually modulate the attention system in a top-down way. In another experiment we show an initial effort to study the acquisition of object affordances. We discuss the importance of sensorimotor coordination as a required step not only for the control of action but also, and more importantly, for perceptual development","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"83 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":"123164839","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: 21
Grasping with flexible viewing-direction with a learned coordinate transformation network 利用学习得到的坐标变换网络实现灵活的视向抓取
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573576
C. Weber, Konstantinos Karantzis, S. Wermter
{"title":"Grasping with flexible viewing-direction with a learned coordinate transformation network","authors":"C. Weber, Konstantinos Karantzis, S. Wermter","doi":"10.1109/ICHR.2005.1573576","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573576","url":null,"abstract":"We present a neurally implemented control system where a robot grasps an object while being guided by the visually perceived position of the object. The system consists of three parts operating in a series: (i) A simplified visual system with a what-where pathway localizes the target object in the visual field. (ii) A coordinate transformation network considers the visually perceived object position and the camera pan-tilt angle to compute the target position in a body-centered frame of reference, as needed for motor action. (iii) This body-centered position is then used by a reinforcement-trained network which docks the robot at a table so that it can grasp the object. The novel coordinate transformation network which we describe in detail here allows for a complicated body geometry in which an agent's sensors such as a camera can be moved with respect to the body, just like the human head and eyes can. The network is trained, allowing a wide range of transformations that need not be implemented by geometrical calculations","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"45 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":"123337918","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: 2
Humanoid robot localisation using stereo vision 基于立体视觉的人形机器人定位
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573539
S. Thompson, S. Kagami
{"title":"Humanoid robot localisation using stereo vision","authors":"S. Thompson, S. Kagami","doi":"10.1109/ICHR.2005.1573539","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573539","url":null,"abstract":"This paper reports on the application of stereo vision localisation estimation techniques to a humanoid robot. Stereo vision has been used to localise wheeled robots with some success. Humanoid mounted stereo vision systems produce very jerky video sequences when the robot is walking. This can make the localisation task more problematic, especially when combined with the noisy nature of stereo depth, the 6DOF of camera motion, the difficulty to produce an accurate odometry estimate, and the desire to use dense stereo depth maps. Here, we apply established 2D localisation techniques to a humanoid robot using dense stereo vision depths maps and robot odometry","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"68 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120835403","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: 27
MAC-EYE: a tendon driven fully embedded robot eye MAC-EYE:肌腱驱动的全嵌入式机器人眼睛
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573546
Dario Biamino, G. Cannata, M. Maggiali, A. Piazza
{"title":"MAC-EYE: a tendon driven fully embedded robot eye","authors":"Dario Biamino, G. Cannata, M. Maggiali, A. Piazza","doi":"10.1109/ICHR.2005.1573546","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573546","url":null,"abstract":"This paper presents a new tendon driven robotic eye. The system has been designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. The system consists of a sphere (the eye-ball), actuated by four independent tendons driven by four DC motors, integrated in the system. The eye-ball hosts a miniature CMOS color camera and is hold by a low friction support allowing three rotational degrees of freedom. Optical sensors provide feedback to control the correct tendons' tensions during operations. The control of the eye is performed by means of an embedded controller connected to a host computer using CAN bus","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"126 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":"116576598","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: 53
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