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Int. J. Humanoid Robotics最新文献

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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
Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation 考虑两足稳定性约束的物体重摆:一种仿人操纵过程中的稳定性保持方法
Int. J. Humanoid Robotics Pub Date : 2020-01-31 DOI: 10.1142/s021984362050005x
Daniel Sánchez, Weiwei Wan, F. Kanehiro, K. Harada
{"title":"Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation","authors":"Daniel Sánchez, Weiwei Wan, F. Kanehiro, K. Harada","doi":"10.1142/s021984362050005x","DOIUrl":"https://doi.org/10.1142/s021984362050005x","url":null,"abstract":"This paper presents a balance-centered planner for object re-posing. It uses Center-of-Mass (CoM) constraints to preserve robot stability and provides stable, IK-feasible, and collision-free upper-...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125183620","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
Learning-Based Analysis of a New Wearable 3D Force System Data to Classify the Underlying Surface of a Walking Robot 基于学习分析的新型可穿戴三维力系统数据对行走机器人下垫面进行分类
Int. J. Humanoid Robotics Pub Date : 2020-01-30 DOI: 10.1142/s0219843620500115
L. Almeida, Vítor M. F. Santos, J. Ferreira
{"title":"Learning-Based Analysis of a New Wearable 3D Force System Data to Classify the Underlying Surface of a Walking Robot","authors":"L. Almeida, Vítor M. F. Santos, J. Ferreira","doi":"10.1142/s0219843620500115","DOIUrl":"https://doi.org/10.1142/s0219843620500115","url":null,"abstract":"Biped humanoid robots that operate in real-world environments need to be able to physically recognize different floors to best adapt their gait. In this work, we describe the preparation of a dataset of contact forces obtained with eight force tactile sensors for determining the underlying surface of a walking robot. The data is acquired for four floors with different coefficient of friction, and different robot gaits and speeds. To classify the different floors, the data is used as input for two common computational intelligence techniques (CITs): Artificial neural network (ANN) and extreme learning machine (ELM). After optimizing the parameters for both CITs, a good mapping between inputs and targets is achieved with classification accuracies of about 99%.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"255 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":"121325768","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
Combination of Hardware and Control to Reduce Humanoids Fall Damage 结合硬件和控制来减少人形机器人的坠落伤害
Int. J. Humanoid Robotics Pub Date : 2020-01-23 DOI: 10.1142/s0219843620500024
Xuechao Chen, Wenpeng Ding, Zhangguo Yu, Libo Meng, M. Ceccarelli, Qiang Huang
{"title":"Combination of Hardware and Control to Reduce Humanoids Fall Damage","authors":"Xuechao Chen, Wenpeng Ding, Zhangguo Yu, Libo Meng, M. Ceccarelli, Qiang Huang","doi":"10.1142/s0219843620500024","DOIUrl":"https://doi.org/10.1142/s0219843620500024","url":null,"abstract":"Most existing motion control methods for humanoids aim at avoiding falling. However, the humanoid is generally an unstable system that cannot completely avoid falling and it is difficult to cope wi...","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132751307","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
Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain 未知地形下两足平衡与运动的足底触觉反馈
Int. J. Humanoid Robotics Pub Date : 2020-01-15 DOI: 10.1142/s0219843619500361
J. R. Guadarrama-Olvera, E. Dean-León, Florian Bergner, G. Cheng
{"title":"Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain","authors":"J. R. Guadarrama-Olvera, E. Dean-León, Florian Bergner, G. Cheng","doi":"10.1142/s0219843619500361","DOIUrl":"https://doi.org/10.1142/s0219843619500361","url":null,"abstract":"This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution in the sole together with other extra sensing modalities (temperature, pre-touch and acceleration). The information provided by the plantar robot skin can be used to compute the center of pressure and the ground reaction forces. This information also enables the online construction of the supporting polygon and its preemptive shape before foot landing using the proximity sensors in the robot skin. Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123795188","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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