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Int. J. Humanoid Robotics最新文献

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Autonomous Programming for General Purposes: Theory 通用自治规划:理论
Int. J. Humanoid Robotics Pub Date : 2020-07-27 DOI: 10.1142/s0219843620500164
J. Weng
{"title":"Autonomous Programming for General Purposes: Theory","authors":"J. Weng","doi":"10.1142/s0219843620500164","DOIUrl":"https://doi.org/10.1142/s0219843620500164","url":null,"abstract":"The universal Turing Machine (TM) is a model for Von Neumann computers — general-purpose computers. A human brain, linked with its biological body, can inside-skull-autonomously learn a universal TM so that he acts as a general-purpose computer and writes a computer program for any practical purposes. It is unknown whether a robot can accomplish the same. This theoretical work shows how the Developmental Network (DN), linked with its robot body, can accomplish this. Unlike a traditional TM, the TM learned by DN is a super TM — Grounded, Emergent, Natural, Incremental, Skulled, Attentive, Motivated, and Abstractive (GENISAMA). A DN is free of any central controller (e.g., Master Map, convolution, or error back-propagation). Its learning from a teacher TM is one transition observation at a time, immediate, and error-free until all its neurons have been initialized by early observed teacher transitions. From that point on, the DN is no longer error-free but is always optimal at every time instance in the sense of maximal likelihood, conditioned on its limited computational resources and the learning experience. This paper extends the Church–Turing thesis to a stronger version — a GENISAMA TM is capable of Autonomous Programming for General Purposes (APFGP) — and proves both the Church–Turing thesis and its stronger version.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121478650","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
Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation 基于拟距离公式的协同控制机械手触手抓取规划
Int. J. Humanoid Robotics Pub Date : 2020-07-21 DOI: 10.1142/s0219843620500152
Zenghui Liu, Yuyang Chen, Xiangyang Zhu, Kai Xu
{"title":"Reach to Grasp Planning for a Synergy-Controlled Robotic Hand based on Pesudo-Distance Formulation","authors":"Zenghui Liu, Yuyang Chen, Xiangyang Zhu, Kai Xu","doi":"10.1142/s0219843620500152","DOIUrl":"https://doi.org/10.1142/s0219843620500152","url":null,"abstract":"In the past several years, grasp analysis of multi-fingered robotic hands has been actively studied through the use of posture synergies. In these grasping planning algorithms, a formulated optimiz...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116663181","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
Navigational Analysis of Multiple Humanoids Using a Hybridized Rule Base-Sugeno Fuzzy Controller 基于混合规则基- sugeno模糊控制器的多类人机器人导航分析
Int. J. Humanoid Robotics Pub Date : 2020-07-08 DOI: 10.1142/s0219843620500176
M. Muni, D. Parhi, P. Kumar, Asita Kumar Rath
{"title":"Navigational Analysis of Multiple Humanoids Using a Hybridized Rule Base-Sugeno Fuzzy Controller","authors":"M. Muni, D. Parhi, P. Kumar, Asita Kumar Rath","doi":"10.1142/s0219843620500176","DOIUrl":"https://doi.org/10.1142/s0219843620500176","url":null,"abstract":"This paper describes a rule base-Sugeno fuzzy hybrid controller for path planning of single as well as multiple humanoid robots in cluttered environments. Initially, sensor outputs regarding the ob...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129775948","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: 7
Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing 基于模拟退火全身控制的NAO仿人机器人动态稳定
Int. J. Humanoid Robotics Pub Date : 2020-06-08 DOI: 10.1142/s0219843620500140
A. Kashyap, D. Parhi, Saroj Kumar
{"title":"Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing","authors":"A. Kashyap, D. Parhi, Saroj Kumar","doi":"10.1142/s0219843620500140","DOIUrl":"https://doi.org/10.1142/s0219843620500140","url":null,"abstract":"The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system. In this paper, the complete dynamics of the humanoid robot has been described in...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130646377","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: 25
Think Fast: Rapid Localization of Teleoperator Gaze in 360° Hosted Telepresence 快速思考:360°远程呈现中远程操作员凝视的快速定位
Int. J. Humanoid Robotics Pub Date : 2020-06-01 DOI: 10.1142/s0219843619500385
Jingxin Zhang, Nicholas Katzakis, Fariba Mostajeran, Paul Lubos, Frank Steinicke
{"title":"Think Fast: Rapid Localization of Teleoperator Gaze in 360° Hosted Telepresence","authors":"Jingxin Zhang, Nicholas Katzakis, Fariba Mostajeran, Paul Lubos, Frank Steinicke","doi":"10.1142/s0219843619500385","DOIUrl":"https://doi.org/10.1142/s0219843619500385","url":null,"abstract":"We evaluate the ability of locally present participants to localize an avatar head’s gaze direction rapidly in hosted telepresence. We performed a controlled user study to test two potential soluti...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129890615","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 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
Dexterity, Sensitivity and Versatility: An Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Actuation 灵巧、灵敏和多功能性:具有机械智能和本体感觉驱动的欠驱动机械手
Int. J. Humanoid Robotics Pub Date : 2020-02-13 DOI: 10.1142/s0219843620500061
Xiaoguang Zhang, Taoyuanmin Zhu, Itsui Yamayoshi, D. Hong
{"title":"Dexterity, Sensitivity and Versatility: An Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Actuation","authors":"Xiaoguang Zhang, Taoyuanmin Zhu, Itsui Yamayoshi, D. Hong","doi":"10.1142/s0219843620500061","DOIUrl":"https://doi.org/10.1142/s0219843620500061","url":null,"abstract":"A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied with mechanical intelligence principles carefully designed and embedded such that optimal trajectories for grabbing are naturally followed and the fingers can automatically conform to the goal object. A generalizable potential energy flow theory is then proposed to explain the mechanism behind the mechanical intelligence. The theory is also supported by experimental results. Quasi-direct drive actuators were developed to actuate the robotic hand with proprioceptive force sensing and inherent compliance. The hand performs delicate force-controlled manipulation with a simple compliance controller implemented.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"129 Pt 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131202275","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
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