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Int. J. Humanoid Robotics最新文献

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A Human Joint Torque Estimation Method for Elbow Exoskeleton Control 一种肘关节外骨骼控制的人体关节力矩估计方法
Int. J. Humanoid Robotics Pub Date : 2020-03-11 DOI: 10.1142/s0219843619500397
Xinwei Li, Su Liu, Ying Chang, Sujiao Li, Yuanjie Fan, Hongliu Yu
{"title":"A Human Joint Torque Estimation Method for Elbow Exoskeleton Control","authors":"Xinwei Li, Su Liu, Ying Chang, Sujiao Li, Yuanjie Fan, Hongliu Yu","doi":"10.1142/s0219843619500397","DOIUrl":"https://doi.org/10.1142/s0219843619500397","url":null,"abstract":"Exoskeleton for motion assistance has obtained more and more attention due to its advantages in rehabilitation and assistance for daily life. This research designed an estimation method of human jo...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"650 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113982133","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: 9
Classifying Obstacles and Exploiting Class Information for Humanoid Navigation Through Cluttered Environments 障碍物分类与类信息挖掘在复杂环境中的应用
Int. J. Humanoid Robotics Pub Date : 2020-03-11 DOI: 10.1142/s0219843620500139
P. Regier, Andres Milioto, C. Stachniss, Maren Bennewitz
{"title":"Classifying Obstacles and Exploiting Class Information for Humanoid Navigation Through Cluttered Environments","authors":"P. Regier, Andres Milioto, C. Stachniss, Maren Bennewitz","doi":"10.1142/s0219843620500139","DOIUrl":"https://doi.org/10.1142/s0219843620500139","url":null,"abstract":"Humanoid robots are often supposed to share their workspace with humans and thus have to deal with objects used by humans in their everyday life. In this article, we present our novel approach to h...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130066804","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: 4
Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands 拟人化手的对象特定抓取的人类启发表示
Int. J. Humanoid Robotics Pub Date : 2020-02-18 DOI: 10.1142/s0219843620500085
J. Starke, Christian Eichmann, Simon Ottenhaus, T. Asfour
{"title":"Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands","authors":"J. Starke, Christian Eichmann, Simon Ottenhaus, T. Asfour","doi":"10.1142/s0219843620500085","DOIUrl":"https://doi.org/10.1142/s0219843620500085","url":null,"abstract":"The human hand is a complex, highly-articulated system, which has been the source of inspiration in designing humanoid robotic and prosthetic hands. Understanding the functionality of the human han...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134271125","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: 12
Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot ARC仿人机器人开放平台机电一体化设计:首个全3D打印儿童尺寸机器人
Int. J. Humanoid Robotics Pub Date : 2020-02-17 DOI: 10.1142/s0219843620500103
Saeed Saeedvand, H. S. Aghdasi, J. Baltes
{"title":"Mechatronic Design of ARC Humanoid Robot Open Platform: First Fully 3D Printed Kid-Sized Robot","authors":"Saeed Saeedvand, H. S. Aghdasi, J. Baltes","doi":"10.1142/s0219843620500103","DOIUrl":"https://doi.org/10.1142/s0219843620500103","url":null,"abstract":"Although there are several popular and capable humanoid robot designs available in the kid-size range, they lack some important characteristics: affordability, being user-friendly, using a wide-ang...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132648952","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: 6
Humanoid Robot RGB-D SLAM in the Dynamic Human Environment 动态人体环境下的仿人机器人RGB-D SLAM
Int. J. Humanoid Robotics Pub Date : 2020-02-12 DOI: 10.1142/s0219843620500097
Tianwei Zhang, Yoshihiko Nakamura
{"title":"Humanoid Robot RGB-D SLAM in the Dynamic Human Environment","authors":"Tianwei Zhang, Yoshihiko Nakamura","doi":"10.1142/s0219843620500097","DOIUrl":"https://doi.org/10.1142/s0219843620500097","url":null,"abstract":"Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as m...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131020308","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
Human-Like Gait Adaptation to Slippery Surfaces for the NAO Robot Wearing Instrumented Shoes 穿着仪表鞋的NAO机器人滑面仿人步态适应
Int. J. Humanoid Robotics Pub Date : 2020-02-04 DOI: 10.1142/s0219843620500073
J. Ferreira, G. Franco, A. Coimbra, M. Crisostomo
{"title":"Human-Like Gait Adaptation to Slippery Surfaces for the NAO Robot Wearing Instrumented Shoes","authors":"J. Ferreira, G. Franco, A. Coimbra, M. Crisostomo","doi":"10.1142/s0219843620500073","DOIUrl":"https://doi.org/10.1142/s0219843620500073","url":null,"abstract":"Gait development for bipedal/humanoid robots has been a field of study with a lot of attention for several years and is becoming increasingly important as robots slowly become part of our daily liv...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114290051","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: 4
Guest Editorial of Special Issue on New Advances of Humanoid Robotics for "2018 IEEE-RAS International Conference on Humanoid Robots" “2018 IEEE-RAS国际仿人机器人会议”“仿人机器人新进展”特刊特邀评论
Int. J. Humanoid Robotics Pub Date : 2020-02-01 DOI: 10.1142/s0219843620020016
Qiang Huang, F. Kanehiro, T. Asfour, A. Kheddar, Zhuangguo Yu
{"title":"Guest Editorial of Special Issue on New Advances of Humanoid Robotics for \"2018 IEEE-RAS International Conference on Humanoid Robots\"","authors":"Qiang Huang, F. Kanehiro, T. Asfour, A. Kheddar, Zhuangguo Yu","doi":"10.1142/s0219843620020016","DOIUrl":"https://doi.org/10.1142/s0219843620020016","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"8 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124270974","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
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact 动态多接触运动同步接触序列轨迹生成
Int. J. Humanoid Robotics Pub Date : 2020-02-01 DOI: 10.1142/s0219843620500036
M. Morisawa, Rafael Cisneros, M. Benallegue, Iori Kumagai, Adrien Escande, F. Kanehiro
{"title":"Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact","authors":"M. Morisawa, Rafael Cisneros, M. Benallegue, Iori Kumagai, Adrien Escande, F. Kanehiro","doi":"10.1142/s0219843620500036","DOIUrl":"https://doi.org/10.1142/s0219843620500036","url":null,"abstract":"This paper proposes a new framework to generate 3D multi-contact locomotion with low computation cost. The proposed framework consists of (a) the derivation of the prospect centroidal dynamics by introducing a force distribution ratio, where it can be represented with a formulation similar to the inverted pendulum’s one, and (b) the development of a fast computation method for generating a 3D center-of-mass (CoM) trajectory. Then (c) the ZMP reference is modified so that feasible contact wrench can be generated by a force distribution using the centroidal dynamics with the approximated friction cone. The proposed method allows to generate a trajectory sequentially and to change the locomotion parameters at any time even under variable CoM height. Then, the contact timing of each end-effector can be adjusted to synchronize with the actual contact with the environment by shortening or extending the desired duration of the support phase. This can be used to improve the robustness of the locomotion. The validity of the proposed method is confirmed by several numerical results in dynamic simulator: a CoM motion while changing the contact timing, a multi-contact locomotion considering a transition between biped and quadruped walking on an horizontal floor to move below obstacles. Finally, we also show a climbing stairs using handrail which requires dynamic changes of unilateral and bilateral contacts.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127739742","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: 4
On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory 基于足部和质心轨迹的稳定全身避碰人形机器人现场运动规划
Int. J. Humanoid Robotics Pub Date : 2020-02-01 DOI: 10.1142/s021984361950035x
Iori Kumagai, M. Morisawa, Shin'ichiro Nakaoka, F. Kanehiro
{"title":"On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory","authors":"Iori Kumagai, M. Morisawa, Shin'ichiro Nakaoka, F. Kanehiro","doi":"10.1142/s021984361950035x","DOIUrl":"https://doi.org/10.1142/s021984361950035x","url":null,"abstract":"In this paper, we propose a locomotion planning framework for a humanoid robot with stable whole-body collision avoidance motion, which enables the robot to traverse an unknown narrow space on the ...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115189355","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
BPNN-Based Real-Time Recognition of Locomotion Modes for an Active Pelvis Orthosis with Different Assistive Strategies 基于bpnn的主动骨盆矫形器不同辅助策略运动模式实时识别
Int. J. Humanoid Robotics Pub Date : 2020-01-30 DOI: 10.1142/s0219843620500048
Cheng Gong, Dongfang Xu, Zhihao Zhou, N. Vitiello, Qining Wang
{"title":"BPNN-Based Real-Time Recognition of Locomotion Modes for an Active Pelvis Orthosis with Different Assistive Strategies","authors":"Cheng Gong, Dongfang Xu, Zhihao Zhou, N. Vitiello, Qining Wang","doi":"10.1142/s0219843620500048","DOIUrl":"https://doi.org/10.1142/s0219843620500048","url":null,"abstract":"Real-time human intent recognition is important for controlling low-limb wearable robots. In this paper, to achieve continuous and precise recognition results on different terrains, we propose a re...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133288665","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: 9
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