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

Using a controller based on reinforcement learning for a passive dynamic walking robot 基于强化学习的被动动态步行机器人控制器

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573573

E. Schuitema, Daan G. E. Hobbelen, P. Jonker, M. Wisse, J. Karssen

引用次数: 54

Real-time stereo facial feature tracking: mimicking human mouth movement on a humanoid robot head 实时立体面部特征跟踪:在仿人机器人头部模拟人的嘴部运动

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573594

Sabri Gurbuz, Toshihiro Shimizu, G. Cheng

引用次数: 7

A space construction humanoid 一个空间建筑人形

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573551

M. Diftler, Joshua S. Mehling, Philip Strawser, William R. Doggett, Ivan M. Spain

{"title":"A space construction humanoid","authors":"M. Diftler, Joshua S. Mehling, Philip Strawser, William R. Doggett, Ivan M. Spain","doi":"10.1109/ICHR.2005.1573551","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573551","url":null,"abstract":"A mobile humanoid robot is reconfiguring NASA modular truss structures at the Johnson Space Center. Until recently these structures could only be effectively manipulated by human hands or by robots with specialized end effectors. This humanoid robot, Robonaut, designed to assist astronauts during space walks, has been upgraded to tackle the precision constrained tasks associated with truss assembly and disassembly. An overview of construction tasks with reconfigurable truss systems is presented along with the associated challenges these systems present to humanoid robots. Advances in Robonaut's capabilities that address these challenges are described and include: a grip surface augmentation to Robonaut's gloves that provides a close approximation to the latest astronaut gloves ensuring a secure grasp during truss coupler manipulation, a set of force controller parameters tuned to maintain stable contact and minimize loads on the truss structure, and a shared control strategy that divides the Cartesian control of Robonaut's hands between the teleoperator and the robot's on-board controller to minimize human workload during constrained tasks. Results of the reconfiguration tests are presented along with potential areas for future automation","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":"128714468","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: 10

Re-using schematic grasping policies

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573559

Robert Platt, R. Grupen, A. Fagg

引用次数: 22

Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO) 仿人机器人平台KHR-3的机械设计(KAIST仿人机器人3:HUBO)

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573587

Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Jun-Ho Oh

{"title":"Mechanical design of humanoid robot platform KHR-3 (KAIST Humanoid Robot 3: HUBO)","authors":"Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Jun-Ho Oh","doi":"10.1109/ICHR.2005.1573587","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573587","url":null,"abstract":"KHR-I has been developed on the purpose of research about biped walking. It has 21 DOF without hands and head, which has 12 DOF in legs, 1 DOF in torso, and 8 DOF in arms. The objective of KHR-2 (41 DOF) was to develop the humanoid which can walk on the living-floor with human-like appearance and movement. KHR-3 has the purpose that it has more human-like features, movements and human-friendly character. Mechanical design of KHR-3 is presented on this paper. The design concept, lower body design, upper body design and actuator selection of joints are included in this paper. We have developed and published KHR-I and 2 in last three years. KHR3 platform is based on KHR-2. It has 41 degree of freedom (DOF), 125 cm height, and 55 kg weight. The differences from KHR-2 are mechanical stiffness and detailed design of the frame in the mechanical point of view. Stiffness of the frame is increased and detailed design about joints and link frame has been modified or redesigned. We introduced exterior art design concept on KHR-2 in beginning, and the concept has been implemented on KHR-3 in mechanical design stage","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"45 4 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":"131294507","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: 294

How do humans turn? Head and body movements for the steering of locomotion Halim Hicheur and Alain Berthoz 人类是如何转变的?头部和身体的运动为运动的转向哈利姆·希切尔和阿兰·伯托兹

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573578

Halim Hicheur, A. Berthoz

{"title":"How do humans turn? Head and body movements for the steering of locomotion Halim Hicheur and Alain Berthoz","authors":"Halim Hicheur, A. Berthoz","doi":"10.1109/ICHR.2005.1573578","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573578","url":null,"abstract":"Turning in humans represents a greater challenge than straight ahead walking in terms of postural control. Indeed, when steering along a curved path humans have to adapt their locomotor pattern by taking into account centrifugal acceleration, which tends to keep their bodies along a straight trajectory. Many observations have been reported with respect to changes in the locomotor pattern between straight and curved walking, at the level of the lower limbs (legs) coordination. In this study, we investigated how head and body movements are coordinated for the steering of the whole body along a curved path or a straight path (control condition). We manipulated two factors - walking speed and path curvature - in order to analyze how centrifugal acceleration affects locomotor control at the level of upper limbs movement. Head and body orientation relative to walking direction were found to be determined both by biomechanical factors (induced by stepping activity) and geometrical features of the path. However, with increasing centrifugal acceleration, only geometrical constraint remains and head and body were rigidly oriented in advance of the future walking direction, independently of the stepping activity. Walking speed condition did significantly affect maximal, minimal as well as amplitude of head and body deviation during straight walking, but not during turning. Our observations are discussed within the general framework of biological motion control and some suggestions are proposed for the implementation of these experimental observations for the design of humanoids robots","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"46 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":"123795092","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: 30

A modular architecture for humanoid robot navigation 仿人机器人导航的模块化体系结构

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573540

Jens-Steffen Gutmann, Masaki Fukuchi, M. Fujita

引用次数: 30

Close encounters: spatial distances between people and a robot of mechanistic appearance 近距离接触:人与机械外观的机器人之间的空间距离

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573608

M. Walters, K. Dautenhahn, K. Koay, C. Kaouri, I. T. Boekhorst, Chrystopher L. Nehaniv, I. Werry, David Lee

引用次数: 153

Vision-guided humanoid footstep planning for dynamic environments 动态环境下视觉引导的仿人步态规划

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573538

P. Michel, Joel E. Chestnutt, J. Kuffner, T. Kanade

引用次数: 160

Learning dynamic humanoid motion using predictive control in low dimensional subspaces 在低维子空间中使用预测控制学习动态类人运动

5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573570

R. Chalodhorn, David B. Grimes, Gabriel Y. Maganis, Rajesh P. N. Rao

引用次数: 10