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Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots最新文献

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Autonomous humanoid navigation using laser and odometry data 使用激光和里程计数据的自主人形导航
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755971
R. Téllez, F. Ferro, D. Mora, Daniel Pinyol, Davide Faconti
{"title":"Autonomous humanoid navigation using laser and odometry data","authors":"R. Téllez, F. Ferro, D. Mora, Daniel Pinyol, Davide Faconti","doi":"10.1109/ICHR.2008.4755971","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755971","url":null,"abstract":"In this paper we present a novel approach to legged humanoid navigation on indoor environments using classical probabilistic SLAM methods based on odometry information and laser measurements. We use two small lasers installed in the robot feet to capture distance data. Odometry is obtained by calculating the position of each laser-foot at every time step. The SLAM problem is solved by using a multi-laser SLAM solution together with a holonomic motion model. Navigation skills also include a path planning module with obstacle avoidance for autonomous navigation in indoor environments. The whole process is performed within the robot itself. Optionally, localization robustness is increased by adding the detection of landmarks using a camera. Results obtained are presented for the 1.5 m tall Reem-B humanoid robot.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125774459","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: 17
Developing social action capabilities in a humanoid robot using an interaction history architecture 使用交互历史架构开发类人机器人的社交行为能力
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756013
N. A. Mirza, Chrystopher L. Nehaniv, K. Dautenhahn, I. T. Boekhorst
{"title":"Developing social action capabilities in a humanoid robot using an interaction history architecture","authors":"N. A. Mirza, Chrystopher L. Nehaniv, K. Dautenhahn, I. T. Boekhorst","doi":"10.1109/ICHR.2008.4756013","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756013","url":null,"abstract":"We present experimental results for the humanoid robot Kaspar2 engaging in a simple ldquopeekaboordquo interaction game with a human partner. The robot develops the capability to engage in the game by using its history of interactions coupled with audio and visual feedback from the interaction partner to continually generate increasingly appropriate behaviour. The robot also uses facial expressions to feedback its level of reward to the partner. The results support the hypothesis that reinforcement of time-extended experiences through interaction allows a robot to act appropriately in an interaction.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126748503","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: 17
Towards a human-robot interface based on the electrical activity of the brain 迈向基于大脑电活动的人机界面
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755936
Virgílio A. Bento, J. P. Cunha, Filipe M. T. Silva
{"title":"Towards a human-robot interface based on the electrical activity of the brain","authors":"Virgílio A. Bento, J. P. Cunha, Filipe M. T. Silva","doi":"10.1109/ICHR.2008.4755936","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755936","url":null,"abstract":"Recent advances in computer hardware and signal processing assert that controlling certain functions by thoughts may represent a landmark in the way we interact with many output devices. This paper exploits the possibility of achieving a communication channel between the brain and a mobile robot through the modulation of the electroencephalogram (EEG) signal during motor imagery tasks. A major concern was directed towards designing a generalized and multi-purpose framework that supports rapid prototyping of various experimental strategies and operating modes. Preliminary results of brain-state estimation using EEG signals recorded during a self-paced left/right hand movement task are also presented. The user successfully learned to operate the system and how to better perform the motor-related tasks based on outcomes produced by its mental focus.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114889557","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
An optimal control method for biped robot with stable walking gait 双足机器人稳定行走步态的最优控制方法
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755947
N. Phuong, D. Kim, Hak-Kyeong Kim, Sang Bong Kim
{"title":"An optimal control method for biped robot with stable walking gait","authors":"N. Phuong, D. Kim, Hak-Kyeong Kim, Sang Bong Kim","doi":"10.1109/ICHR.2008.4755947","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755947","url":null,"abstract":"This paper proposes an optimal control method for a 10 degree of freedom (DOF) biped robot with stable walking gait. The biped robot is modeled as a 3D inverted pendulum. From dynamic model of the 3D inverted pendulum and under the assumption that center of mass (COM) of the biped robot moves on a horizontal constraint plane, zero moment point (ZMP) equations of the biped robot depending on the coordinate of the center of the pelvis link obtained from the dynamic model of the biped robot are given based on the DdasiaAlembertpsilas principle. A walking pattern is generated based on ZMP tracking control systems that are constructed to track the ZMP of the biped robot to zigzag ZMP reference trajectory decided by the footprint of the biped robot. An optimal tracking controller is designed to control the ZMP tracking control system. From the trajectory of the COM of the biped robot and an arc reference input of the swinging leg, the inverse kinematics solved by the solid geometry method is used to compute the angles of each joint of the biped robot. The simulation and experimental results show the effectiveness of this proposed control method.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121261833","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
Obstacle avoidance control of humanoid robot arm through tactile interaction 基于触觉交互的仿人机械臂避障控制
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755981
D. Tsetserukou, N. Kawakami, S. Tachi
{"title":"Obstacle avoidance control of humanoid robot arm through tactile interaction","authors":"D. Tsetserukou, N. Kawakami, S. Tachi","doi":"10.1109/ICHR.2008.4755981","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755981","url":null,"abstract":"In this paper we introduce a novel concept of obstacle avoidance through tactile interaction. The implementation of the approach was realized on humanoid robot arm with optical torque sensors distributed to each robot joint. When manipulator collides with an object, the control system enables to follow the object outline smoothly till robot reaches the target point. Such approach ensures not only safe obstacle avoidance but also acquisition of indispensable information about environment. The methods of object stiffness calculation, contact point estimation, and shape interpolation are detailed in the paper. The possible tasks of the robot with intelligent whole-arm obstacle avoidance control are summarized and illustrated in this work as well. The controllable compliance of robot arm joint can be extremely useful in a wide range of applications.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131354665","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: 10
Imitation of human motion on a humanoid robot using non-linear optimization 用非线性优化方法在仿人机器人上模拟人体运动
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756029
Martin Do, P. Azad, T. Asfour, R. Dillmann
{"title":"Imitation of human motion on a humanoid robot using non-linear optimization","authors":"Martin Do, P. Azad, T. Asfour, R. Dillmann","doi":"10.1109/ICHR.2008.4756029","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756029","url":null,"abstract":"In this paper, we present a system for the imitation of human motion on a humanoid robot, which is capable of incorporating both vision-based markerless and marker-based human motion capture techniques. Based on the so-called Master Motor Map, an interface for transferring motor knowledge between embodiments with different kinematics structure, the system is able to map human movement to a human-like movement on the humanoid while preserving the goal-directed characteristics of the movement. To attain an exact and goal-directed imitation of an observed movement, we introduce a reproduction module using non-linear optimization to maximize the similarity between the demonstrated human movement and the imitation by the robot. Experimental result using markerless and marker-based human motion capture data are given.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134044047","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: 85
Improved Ant Colony Optimization algorithm by potential field concept for optimal path planning 基于势场概念的改进蚁群优化算法用于最优路径规划
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756022
Joon-Woo Lee, Jeong-Jung Kim, Byoung-Suk Choi, Jujang Lee
{"title":"Improved Ant Colony Optimization algorithm by potential field concept for optimal path planning","authors":"Joon-Woo Lee, Jeong-Jung Kim, Byoung-Suk Choi, Jujang Lee","doi":"10.1109/ICHR.2008.4756022","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756022","url":null,"abstract":"In this paper, an improved ant colony optimization (ACO) algorithm is proposed to solve path planning problems. These problems are to find a collision-free and optimal path from a start point to a goal point in environment of known obstacles. There are many ACO algorithm for path planning. However, it take a lot of time to get the solution and it is not to easy to obtain the optimal path every time. It is also difficult to apply to the complex and big size maps. Therefore, we study to solve these problems using the ACO algorithm improved by potential field scheme. We also propose that control parameters of the ACO algorithm are changed to converge into the optimal solution rapidly when a certain number of iterations have been reached. To improve the performance of ACO algorithm, we use a ranking selection method for pheromone update. In the simulation, we apply the proposed ACO algorithm to general path planning problems. At the last, we compare the performance with the conventional ACO algorithm.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131483121","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: 22
Simulation of semi-passive dynamic walking for humanoid robots 仿人机器人半被动动态行走仿真
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756028
A. Omer, R. Ghorbani, Hun-ok Lim, A. Takanishi
{"title":"Simulation of semi-passive dynamic walking for humanoid robots","authors":"A. Omer, R. Ghorbani, Hun-ok Lim, A. Takanishi","doi":"10.1109/ICHR.2008.4756028","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756028","url":null,"abstract":"The bipedal humanoid robot WABIAN-2R is developed to simulate human locomotion. Performing a walking motion requires a high torque at the ankle joint. WABIAN-2R consists harmonic gears in its driveline system which increases the weight of each leg and respectively decreases the energy economy. Therefore, a new idea is proposed and developed in this paper through computer simulation to modify the design of the ankle joint by adding a spring mechanism instead of high gear ratio transmission. This helps to reduce the energy consumed while walking; by storing and returning part of the energy. Research presented in this paper proposes an important step toward developing the passive dynamics walking into the advanced complex humanoid robots.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114370198","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
Visual and laser guided robot relocalization using lines and Hough Transformation 基于直线和霍夫变换的视觉和激光制导机器人定位
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755951
Miguel Bernal-Marin, E. Bayro-Corrochano
{"title":"Visual and laser guided robot relocalization using lines and Hough Transformation","authors":"Miguel Bernal-Marin, E. Bayro-Corrochano","doi":"10.1109/ICHR.2008.4755951","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755951","url":null,"abstract":"Knowledge about where is a mobile robot in a specific moment is crucial for decision-making when it comes to be explored an area known or unknown. Map building and relocalization are two fundamental problems by mobile robots and humanoids, and they are very closely connected. The use of geometric entities provided by the various input devices (laser rangefinder, ultrasound, etc.) helps us for the easy implementation of these maps in 2D. In this paper the authors present a new technique for the construction of maps using a laser rangefinder and a stereo camera, where the goal is to build a 3D geometric map. Using the conformal geometric algebra the authors will have a compact representation of the elements of the 3D environment. The relocalization of the mobile robot in the environment when this is already known, either built or previously proposed artificially is another problem which is attacking in this paper. Using Hough transform on the line segments already recorded on the map will make a matching in the Hough domain to get the current position of the robot in the environment.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116973980","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
Upper-body contour extraction and tracking using face and body shape variance information 利用人脸和体型方差信息提取和跟踪上半身轮廓
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755983
Kazuki Hoshiai, S. Fujie, Tetsunori Kobayashi
{"title":"Upper-body contour extraction and tracking using face and body shape variance information","authors":"Kazuki Hoshiai, S. Fujie, Tetsunori Kobayashi","doi":"10.1109/ICHR.2008.4755983","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755983","url":null,"abstract":"We propose a fitting method using a model that integrates face and body shape variance information for upper-body contour extraction and tracking. Accurate body-contour extraction is necessary for various applications, such as pose estimation, gesture recognition, and so on. In this study, we regard it as the shape model fitting problem. A model including shape variance information can fit to the contour robustly even in the noisy case. AAMs are one of these models and can fit to a face successfully. It needs appearance information for effective fitting, but it can not be used in our case because appearance of upper-body easily changes by clothes. Instead of intensity image, proposed method uses edge image as appearance information. However, discrimination between a true contour edge of upper-body and other edges is difficult. To solve this problem, we integrate shape models of upper body and face. It is expected that this integrated model is more robust to edges in clutter background and various locations of the body than a body shape model using only body shape information. We conduct experiments and confirm improvement in accuracy by integration of face and body variance information.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116273501","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
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