Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots最新文献_第2页

Vibration damping control of robot arm intended for service application in human environment 面向人类环境中应用的机械臂减振控制

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755992

D. Tsetserukou, N. Kawakami, S. Tachi

引用次数: 9

Development of a humanoid robot capable of handling heavy objects 能搬运重物的类人机器人的研制

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755961

Hyeung-Sik Choi, Wonhyun Na, Dongwan Kang

引用次数: 0

Developing humanoid robots for real-world environments 为现实环境开发类人机器人

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756032

A. Stoica, Michael J. Kuhlman, C. Assad, D. Keymeulen

{"title":"Developing humanoid robots for real-world environments","authors":"A. Stoica, Michael J. Kuhlman, C. Assad, D. Keymeulen","doi":"10.1109/ICHR.2008.4756032","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756032","url":null,"abstract":"Humanoids are steadily improving in appearance and functionality demonstrated in controlled environments. To address the challenges of operation in the real-world, researchers have proposed the use of brain-inspired architectures for robot control, and the use of robot learning techniques that enable the robot to acquire and tune skills and behaviours. In the first part of the paper we introduce new concepts and results in these two areas. First, we present a cerebellum-inspired model that demonstrated efficiency in the sensory-motor control of anthropomorphic arms, and in gait control of dynamic walkers. Then, we present a set of new ideas related to robot learning, emphasizing the importance of developing teaching techniques that support learning. In the second part of the paper we propose the use in robotics of the iterative and incremental development methodologies, in the context of practical task-oriented applications. These methodologies promise to rapidly reach system-level integration, and to early identify system-level weaknesses to focus on. We apply this methodology in a task targeting the automated assembly of a modular structure using HOAP-2. We confirm this approach led to rapid development of a end-to-end capability, and offered guidance on which technologies to focus on for gradual improvement of a complete functional system. It is believed that providing grand challenge type milestones in practical task-oriented applications accelerates development. As a meaningful target in short-mid term we propose the dasiaIKEA Challengepsila, aimed at the demonstration of autonomous assembly of various pieces of furniture, from the box, following included written/drawn instructions.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"11 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":"127288716","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 new method for generating safe motions for humanoid robots 一种生成人形机器人安全运动的新方法

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755939

S. Lengagne, N. Ramdani, P. Fraisse

引用次数: 8

Design of the humanoid robot KOBIAN - preliminary analysis of facial and whole body emotion expression capabilities- 仿人机器人KOBIAN的设计——面部和全身情感表达能力的初步分析

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755969

M. Zecca, N. Endo, S. Momoki, K. Itoh, A. Takanishi

{"title":"Design of the humanoid robot KOBIAN - preliminary analysis of facial and whole body emotion expression capabilities-","authors":"M. Zecca, N. Endo, S. Momoki, K. Itoh, A. Takanishi","doi":"10.1109/ICHR.2008.4755969","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755969","url":null,"abstract":"Personal robots and robot technology (RT)-based assistive devices are expected to play a major role in our elderly-dominated society, with an active participation to joint works and community life with humans, as partner and as friends for us. In particular, these robots are expected to be fundamental for helping and assisting elderly and disabled people during their activities of daily living (ADLs). To achieve this result, personal robots should be capable of human-like emotion expressions; in addition, human-like bipedal walking is the best solution for the robots which should be active in the human living environment. Although several bipedal robots and several emotional expression robots have been developed in the recent years, until now there was no robot which integrated all these functions. Therefore we developed a new bipedal walking robot, named KOBIAN, which is also capable to express human-like emotions. In this paper, we present the design and the preliminary evaluation of the new emotional expression head. The preliminary results showed that the emotion expressed by only the head cannot be really easily understood by the users. However, the presence of a full body clearly enhances the emotion expression capability of the robot, thus proving the effectiveness of the proposed approach.","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":"125533955","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: 68

Experience repository based Particle Swarm Optimization and its application to biped robot walking 基于经验库的粒子群算法及其在两足机器人行走中的应用

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755980

Jeong-Jung Kim, Taeyong Choi, Jujang Lee

引用次数: 3

Inverse kinematics with floating base and constraints for full body humanoid robot control 基于浮基和约束的仿人机器人全身控制逆运动学

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755926

M. Mistry, J. Nakanishi, G. Cheng, S. Schaal

引用次数: 72

A potential field approach to dexterous tactile exploration of unknown objects 一种灵巧触觉探索未知物体的势场方法

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756005

A. Bierbaum, M. Rambow, T. Asfour, R. Dillmann

引用次数: 57

Optimization of fluent approach and grasp motions 优化流畅的接近和抓取动作

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755940

M. Gienger, Marc Toussaint, Nikolay Jetchev, A. Bendig, C. Goerick

引用次数: 29

Realization of natural interaction dialogs in public environments using the humanoid robot ROMAN 利用仿人机器人ROMAN实现公共环境中的自然交互对话

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756008

Norbert Schmitz, J. Hirth, K. Berns

引用次数: 7