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

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The interactive motion control for a small humanoid robot 小型人形机器人的交互运动控制
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573610
Tomohisa Moridaira, A. Miyamoto, Satoru Shimizu, Yasunori Kawanami, K. Nagasaka, Y. Kuroki
{"title":"The interactive motion control for a small humanoid robot","authors":"Tomohisa Moridaira, A. Miyamoto, Satoru Shimizu, Yasunori Kawanami, K. Nagasaka, Y. Kuroki","doi":"10.1109/ICHR.2005.1573610","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573610","url":null,"abstract":"We have been developing a small biped entertainment robot and expanding its capabilities for the adaptability and interactivity with human in home environment. SDR-4X III is the refused and enhanced model that has capabilities by adaptive functions for physical interaction with human. We proposed the creative motion planning framework, the motion planning system for SBR-4X III to enable adaptive drawing performance in 3D world. It is realized by the motion control under kinematic constraints and the position-based impedance control. In order to explore and evaluate she physically interactive capabilities by human and SDR-4X III, we proposed and demonstrated the handguided interaction by human manipulation and interactive performance through the physical interface of the holding object under she both limbs' coordinated motion control of SDR-4X III","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"7 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":"130355069","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: 3
Bracing behavior in humanoid through preview control of impact disturbance 基于冲击扰动预览控制的人形支撑行为
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573584
S. Kanzaki, K. Okada, M. Inaba
{"title":"Bracing behavior in humanoid through preview control of impact disturbance","authors":"S. Kanzaki, K. Okada, M. Inaba","doi":"10.1109/ICHR.2005.1573584","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573584","url":null,"abstract":"In this paper, we propose a new approach for a humanoid balance control. In previous research, a balance control of a humanoid was regarded as a method which absorbs the difference of assumed environment model and real environment. In contrast, we focus on generating bracing motions using prediction of time series of external force. We introduce a disturbance preview control method to generate bracing behavior against external impact. In order to reduce ZMP error at the moment of external impact, we control desired COG trajectory by using a disturbance preview control that takes future information of an external force represented as velocity disturbance of COG. Finally, we show numerical simulation results and demonstrate clash experiments using humanoid robot HOA P-2","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"181 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":"123316112","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: 24
Distributed controller for cooperative joint torque control of compact humanoid robots 小型人形机器人协同关节转矩控制的分布式控制器
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573577
N. Tomokuni, M. Saiga, T. Yabuta
{"title":"Distributed controller for cooperative joint torque control of compact humanoid robots","authors":"N. Tomokuni, M. Saiga, T. Yabuta","doi":"10.1109/ICHR.2005.1573577","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573577","url":null,"abstract":"This paper describes the design issues of distributed control system for compact humanoid robots. First, structure of distributed servo controller is proposed which is connected to a real-time serial interface. This servo-controller system has torque control function by improving a servocontroller of a conventional radio-control servomechanism. By use of this proposed distributed controller, a compact humanoid robot with 22 degrees of freedom is made which has compliance control function. Experimental results give good evidence of the proposed distributed controller architecture","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"41 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":"123803564","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: 1
Task-oriented whole body motion for humanoid robots 面向任务的仿人机器人全身运动
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573574
M. Gienger, H. Janssen, C. Goerick
{"title":"Task-oriented whole body motion for humanoid robots","authors":"M. Gienger, H. Janssen, C. Goerick","doi":"10.1109/ICHR.2005.1573574","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573574","url":null,"abstract":"We present a whole body motion control algorithm for humanoid robots. It is based on the framework of Liegeois and solves the redundant inverse kinematics problem on velocity level. We control the hand positions as well as the hand and head attitude. The attitude is described with a novel 2-dof description suited for symmetrical problems. Task-specific command elements can be assigned to the command vector at any time, such enabling the system to control one or multiple effectors and to seamlessly switch between such modes while generating a smooth, natural motion. Further, kinematic constraints can be assigned to individual degrees of freedom. The underlying kinematic model does not consider the leg joints explicitly. Nevertheless, the method can be used in combination with an independent balance or walking control system, such reducing the complexity of a complete system control. We show how to incorporate walking in this control scheme and present experimental results on ASIMO","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"27 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":"130640526","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: 131
Intent imitation using wearable motion capturing system with on-line teaching of task attention 基于可穿戴式动作捕捉系统的意图模仿与任务注意在线教学
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573611
T. Inamura, Naoki Kojo, Tomoyuki Sonoda, Kazuyuki Sakamoto, K. Okada, M. Inaba
{"title":"Intent imitation using wearable motion capturing system with on-line teaching of task attention","authors":"T. Inamura, Naoki Kojo, Tomoyuki Sonoda, Kazuyuki Sakamoto, K. Okada, M. Inaba","doi":"10.1109/ICHR.2005.1573611","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573611","url":null,"abstract":"In order for humanoids to imitate humans behavior, it is important to extract a needful parameter for target of imitation. Especially in daily-life environment, only simple joint angles are insufficiency because position and posture of hands and remarkable point of target object are needed for intent imitation. In this paper, we describe a development methods of motion capturing system with interactive teaching of task attention, and show its feasibility in daily-life environments","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"30 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":"122339602","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: 28
Learning sequential constraints of tasks from user demonstrations 从用户演示中学习任务的顺序约束
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573604
M. Pardowitz, R. Zöllner, R. Dillmann
{"title":"Learning sequential constraints of tasks from user demonstrations","authors":"M. Pardowitz, R. Zöllner, R. Dillmann","doi":"10.1109/ICHR.2005.1573604","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573604","url":null,"abstract":"Learning from human demonstration is likely to be one of the key features for service robots in household domains if they are to be accepted by humans. To be of most benefit possible to its user, the robot should go beyond simply imitating a user's demonstration but try to build task knowledge that is as general and flexible as possible. One way to achieve this is equipping the robot with the ability to reason about the task knowledge he has already acquired in order to refine, generalize and complete it. A system to record and interpret manipulation task demonstrations is presented in this paper. As a representation for the sequential constraints a valid task execution must obey, task precedence graphs (TPG's) are introduced. Means of reasoning on a task's underlying TPG are proposed and evaluated within two tasks from the household domain","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"37 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":"121184282","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: 38
A humanoid robot drawing human portraits 一个人形机器人绘制人类肖像
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573562
S. Calinon, Julien Epiney, A. Billard
{"title":"A humanoid robot drawing human portraits","authors":"S. Calinon, Julien Epiney, A. Billard","doi":"10.1109/ICHR.2005.1573562","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573562","url":null,"abstract":"This paper presents the creation of a robot capable of drawing artistic portraits. The application is purely entertaining and based on existing tools for face detection and image reconstruction, as well as classical tools for trajectory planning of a 4 DOFs robot arm. The innovation of the application lies in the care we took to make the whole process as human-like as possible. The robot's motions and its drawings follow a style characteristic to humans. The portraits conserve the esthetics features of the original images. The whole process is interactive, using speech recognition and speech synthesis to conduct the scenario","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"36 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":"122213244","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: 86
An embedded tactile and force sensor for robotic manipulation and grasping 用于机器人操作和抓取的嵌入式触觉和力传感器
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573549
G. Cannata, M. Maggiali
{"title":"An embedded tactile and force sensor for robotic manipulation and grasping","authors":"G. Cannata, M. Maggiali","doi":"10.1109/ICHR.2005.1573549","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573549","url":null,"abstract":"A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a flexible PCB covered by a conductive rubber layer. The force sensor is an off-the-shelf integrated three components micro-joystick. The analog and digital electronics is fully embedded with the sensor that is a self-standing module mounted on each finger phalange","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"47 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":"133963805","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: 56
A humanoid behavior modification system by monitoring & evaluating causality between sensors & actions 通过监测和评估传感器和动作之间的因果关系的类人行为修改系统
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573568
T. Yoshikai, I. Mizuuchi, M. Inaba
{"title":"A humanoid behavior modification system by monitoring & evaluating causality between sensors & actions","authors":"T. Yoshikai, I. Mizuuchi, M. Inaba","doi":"10.1109/ICHR.2005.1573568","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573568","url":null,"abstract":"The idea of automatic behavior modification that runs in parallel with the main behavior generation system is important in order to adapt to many unexpected changes that robots are exposed. Against some of the unexpected changes, robots have to decide whether they stop doing the current task and search for the changes or ignore the changes. By monitoring causality between their sensors & actions while doing the current behavior, robots can expect which sensors are to change in the current behavior. Therefore, they can evaluate how unexpected the changes are. This paper proposes a method to modify robots' behaviors automatically when the unexpected sensor changes happened. For realizing such system, we developed the mechanism for learning the connection strength between sensors and actions by monitoring their synchronous changes during current behavior & evaluating how unexpected the changes of each sensors are. Furthermore, simple behavior modification experiments using real humanoid are shown for the confirmation of the feasibility of the proposed system","PeriodicalId":192337,"journal":{"name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","volume":"112 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":"133559839","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: 1
A single camera motion capture system dedicated to gestures imitation 一个单摄像机动作捕捉系统，专门用于手势模仿
5th IEEE-RAS International Conference on Humanoid Robots, 2005. Pub Date : 2005-12-05 DOI: 10.1109/ICHR.2005.1573605
P. Menezes, F. Lerasle, J. Dias, R. Chatila
{"title":"A single camera motion capture system dedicated to gestures imitation","authors":"P. Menezes, F. Lerasle, J. Dias, R. Chatila","doi":"10.1109/ICHR.2005.1573605","DOIUrl":"https://doi.org/10.1109/ICHR.2005.1573605","url":null,"abstract":"This article describes a method to track 3D articulated structures from a monocular perspective image sequence using a particle filter. This structure is composed of a set of linked degenerated quadrics (cones) which are truncated by pairs of planes also modelled as degenerated quadrics. This set of truncated cones is connected by joints containing one or more degrees of freedom. The method is based upon the estimation of the contours of the structure's silhouette projected on the image plane, to validate each of the particles which correspond to proposed configurations. This validation is performed using a criterion that combines a measure based on the contours, a measure of similarity between the colour distribution around a point on the structure and a reference distribution, and other criteria that reinforce the overall cost function. The results show the feasibility of the approach when using a single camera to track a 3D model containing eight degrees of freedom","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":"116260989","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: 15
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