Int. J. Humanoid Robotics最新文献

Gait Recognition Based on Minirocket with Inertial Measurement Units 基于惯性测量单元的微型火箭步态识别

Int. J. Humanoid Robotics Pub Date : 2023-06-02 DOI: 10.1142/s0219843623500093

Jianjun Yan, Weixiang Xiong, Li Jin, Jinlin Jiang, Zhihao Yang, Jiangtao Shi, Shuai Hu

引用次数: 0

Robotic Grasp Pose Detection Method Based on Multiscale Features 基于多尺度特征的机器人抓取姿态检测方法

Int. J. Humanoid Robotics Pub Date : 2023-06-02 DOI: 10.1142/s021984362350010x

Zheng Wang, Longlong Leng, Xianming Zhou, Yanwei Zhao

引用次数: 0

Dynamic Posture Stabilization Of Humanoid Robot NAO Using 3D-Multilinked Dual Spring-Loaded Inverted Pendulum Model for Uneven and Inclined Floor 基于三维多连杆双弹簧倒立摆模型的仿人机器人NAO不平整倾斜地面动态姿态稳定

Int. J. Humanoid Robotics Pub Date : 2023-06-02 DOI: 10.1142/s021984362350007x

A. Kashyap, D. Parhi

引用次数: 0

When Deep is not Enough: Towards Understanding Shallow and Continual Learning Models in Realistic Environmental Sound Classification for Robots 当深度不够时:对机器人现实环境声音分类中浅层和持续学习模型的理解

Int. J. Humanoid Robotics Pub Date : 2023-06-02 DOI: 10.1142/s0219843623500081

Omar Eldardeer, F. Rea, G. Sandini, Doreen Jirak

引用次数: 0

Design a Four-Bar Mechanism for Specific Upper Limb Muscle Strength Rehabilitation Using Genetic Algorithm 采用遗传算法设计一种特殊上肢肌力康复的四杆机构

Int. J. Humanoid Robotics Pub Date : 2023-05-18 DOI: 10.1142/s0219843623500056

J. Quarnstrom, Rahid Zaman, Y. Xiang

引用次数: 0

A Novel Low-Cost ZMP Estimation Method for Humanoid Gait using Inertial Measurement Devices: Concept and Experiments 基于惯性测量装置的人形步态低成本ZMP估计方法:概念与实验

Int. J. Humanoid Robotics Pub Date : 2023-02-03 DOI: 10.1142/s0219843623500032

R. Das, A. Chemori, Neelesh Kumar

{"title":"A Novel Low-Cost ZMP Estimation Method for Humanoid Gait using Inertial Measurement Devices: Concept and Experiments","authors":"R. Das, A. Chemori, Neelesh Kumar","doi":"10.1142/s0219843623500032","DOIUrl":"https://doi.org/10.1142/s0219843623500032","url":null,"abstract":"Estimation and control of Zero Moment Point (ZMP) is a widely used concept for planning the locomotion of bipedal robots and is commonly measured using integrated joint angle encoders and foot force sensors. Contemporary methods for ZMP measurement involve built-in contact sensors such as joint encoders or instrumented foot force sensors. This paper presents a novel approach for computing ZMP for a humanoid robot using inertial sensor-based wireless foot sensor modules (WFSM). The developed WFSMs, strapped at different limb segments of a bipedal robot, measure lower limb joint angles in real-time. The joint angle trajectories, further transformed into cartesian position coordinates, are used for estimating the ZMP positions of humanoid robots using the planar biped model. The whole framework is presented through experimental studies for different real-life walking scenarios. Since the modules work based on the limb motion and inclination, any ground unevenness would be automatically reflected in the module output. Hence, this measurement process can be a convenient method for applications requiring humanoid control on uneven surfaces/ outdoor terrains . To compare the performance of the proposed model, ZMP is simultaneously measured from inbuilt foot force sensors and joint encoders of the robot. Statistical tests exhibit a high linear correlation between the proposed method with integrated encoders and foot force sensors (Pearson’s coefficient, r > 0.99). Results indicate that ZMP estimated by WFSM is a viable method to monitor the dynamic gait balance of a humanoid robot and has potential application in outdoor and uneven terrains","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127815266","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: 0

The Effects of Robot Voices and Appearances on Users' Emotion Recognition and Subjective Perception 机器人的声音和外观对用户情绪识别和主观感知的影响

Int. J. Humanoid Robotics Pub Date : 2023-01-20 DOI: 10.1142/s0219843623500019

Sangjin Ko, Jaclyn A. Barnes, Jiayuan Dong, C. Park, A. Howard, M. Jeon

引用次数: 2

Optimized System Identification of Humanoid Robots with Physical Consistency Constraints and Floating-based Exciting Motions 基于物理一致性约束和漂浮激励运动的仿人机器人优化系统辨识

Int. J. Humanoid Robotics Pub Date : 2022-11-19 DOI: 10.1142/s0219843622500153

Astra Chun-Hui Lee, Huan-Kun Hsu, Han-Pang Huang

{"title":"Optimized System Identification of Humanoid Robots with Physical Consistency Constraints and Floating-based Exciting Motions","authors":"Astra Chun-Hui Lee, Huan-Kun Hsu, Han-Pang Huang","doi":"10.1142/s0219843622500153","DOIUrl":"https://doi.org/10.1142/s0219843622500153","url":null,"abstract":"Generally, robots are initially designed via computer-aided software to obtain their parameters. However, the given parameters are not entirely true due to their unmodeled parts; therefore, system identification is needed, and physical conditions are crucial to guarantee feasible solutions. This study uses a quadratic programming regression model accompanied by physical consistency constraints and designs specific exciting motions for humanoid robots. The proposed constraints are designed based on the geometric approximation of link objects, the physically reasonable mass and inertia and the total mass of the robot being correct. The proposed exciting motions include the general walking motion and the single-leg support motion, which enable a more flexible and stable way to cause excitation in the floating-base system. The identified parameters are evaluated on the humanoid robot NINO. Furthermore, the error between the feedback information of the zero moment point and the command information of the center of mass are used for evaluating the identified dynamic parameters. According to the experiments with the proposed exciting motions, the identified parameters are found to be obviously better than the original computer-aided design parameters, especially in the [Formula: see text] direction.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117046803","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: 0

On the Influence of Social Robots in Cognitive Multitasking 社交机器人对认知多任务处理的影响

Int. J. Humanoid Robotics Pub Date : 2022-11-16 DOI: 10.1142/s0219843622500220

Motonobu Aoki, F. Rea, Doreen Jirak, G. Sandini, Takura Yanagi, A. Takamatsu, Stephane Bouet, T. Yamamura

引用次数: 0

Using Hebbian Learning for Training Spiking Neural Networks to Control Fingers of Robotic Hands 利用Hebbian学习训练脉冲神经网络控制机械手手指

Int. J. Humanoid Robotics Pub Date : 2022-11-16 DOI: 10.1142/s0219843622500244

George-Iulian Uleru, M. Hulea, V. Manta

引用次数: 1