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

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Stabilization control for humanoid robot to walk on inclined plane 仿人机器人斜面行走的稳定控制
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755927
Yong-Duk Kim, In-Won Park, Jeong-Ki Yoo, Jong-Hwan Kim
{"title":"Stabilization control for humanoid robot to walk on inclined plane","authors":"Yong-Duk Kim, In-Won Park, Jeong-Ki Yoo, Jong-Hwan Kim","doi":"10.1109/ICHR.2008.4755927","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755927","url":null,"abstract":"In this paper, a novel stabilization control is proposed for humanoid robot to walk dynamically on an inclined plane. Online walking control is indispensable to obtain a stable dynamic walking, even if the walking pattern is provided based on a zero moment point and an angular momentum because modeling errors and external disturbances, which are not expected in the modeling stage, may exist in the actual condition. Considering these issues, this paper proposes a stabilization control, which consists of landing force controller, posture controller and walking pattern generator to walk on the inclined plane. The proposed control does not require a complex dynamic equation of robot and the adjustment of control parameters because it is based on time-domain passivity approach. Moreover, it can guarantee the stability of the controller without requiring any dynamic model information. The proposed control is verified through dynamic walking simulations using Webots simulator.","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":"117273484","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
Modelling and control of the humanoid robot RH-1 for collaborative tasks 仿人机器人RH-1协同任务建模与控制
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755942
P. Pierro, Concepción Alicia Monje Micharet, C. Balaguer
{"title":"Modelling and control of the humanoid robot RH-1 for collaborative tasks","authors":"P. Pierro, Concepción Alicia Monje Micharet, C. Balaguer","doi":"10.1109/ICHR.2008.4755942","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755942","url":null,"abstract":"This work deals with the modelling and control of the humanoid robot RH-1, a full scale humanoid prototype totally developed in the University Carlos III of Madrid and the only one existing in our country. The main objective is to develop an advanced control system that allows cooperation tasks to be carried out semi-autonomously between humanoid robots and humans in real working environments. The kinematic model and a simplification of the dynamic model of the robot are presented in this paper, together with a control strategy for the stabilization of the system during the walking and collaborative actions. Several simulation and experimental results are also given along the paper to illustrate the work.","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":"123341076","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: 14
Understanding of hands and task characteristics for development of biomimetic robot hands 仿生机械手开发中对手和任务特性的理解
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755986
Changmok Choi, M. Shin, Suncheol Kwon, Wonil Park, Jung Kim
{"title":"Understanding of hands and task characteristics for development of biomimetic robot hands","authors":"Changmok Choi, M. Shin, Suncheol Kwon, Wonil Park, Jung Kim","doi":"10.1109/ICHR.2008.4755986","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755986","url":null,"abstract":"This paper describes a study to understand human hand dexterity, which is the ultimate goal of biomimetic robot hands. The hand is one of the most complicated organs in the human body and this complicated anatomical structure is a source of a dexterity and force capability that man-made hands have rarely achieved. The anatomical and neuromuscular aspects of the human hand are surveyed to provide technical specifications. In addition, the roles of visual and tactile sensory capabilities during object manipulation are discussed. Finally, the paper presents an instrumentation system for measuring surface electromyogram (sEMG) and exerted finger forces concurrently. This system is able to characterize hand tasks and provide technical specifications for development of biomimetic hands with dexterity and force capabilities that are comparable to those of human hands.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"8 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":"129522982","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: 8
Research and experiment of lip coordination with speech for the humanoid head robot-“H&Frobot-III” 仿人头部机器人“H&Frobot-III”唇语协调研究与实验
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756012
Meng Qingmei, Wu Weiguo, Zhong Yusheng, Song Ce
{"title":"Research and experiment of lip coordination with speech for the humanoid head robot-“H&Frobot-III”","authors":"Meng Qingmei, Wu Weiguo, Zhong Yusheng, Song Ce","doi":"10.1109/ICHR.2008.4756012","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756012","url":null,"abstract":"This paper proposes a method of lip shape coordination with speech in the facial expression robot system ldquoH&Frobot-IIIrdquo. The proposed method can model the talking robotpsilas lip shape using visual speech system, which includes three modules: speech recognition, lip shape recognition and lip pose actuator. In the lip shape recognition module, a viseme representation method is proposed for synthesising the human visual speech. To analyze the robotpsilas lip shape, lip shape model is developed based on the anatomy and facial action coding system (FACS). When robot speaking, the lip shape coordination with speech can be realized through basic lip shape or the combination of basic lip shape. In the ldquoH&Frobot-IIIrdquo system, the lip shape is realized through slide and guide slot mechanism, which implements the two-way movement of muscle in the lip. Finally, the result of the experiment, which is the lip coordination with speech, is shown. When speaking same word, the lip shape of robot is similarity to that of human.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"4 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":"122237994","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
Realization of stretch-legged walking of the humanoid robot 仿人机器人伸展腿行走的实现
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755941
Min-Su Kim, Inhyeok Kim, Sangsin Park, Jun-Ho Oh
{"title":"Realization of stretch-legged walking of the humanoid robot","authors":"Min-Su Kim, Inhyeok Kim, Sangsin Park, Jun-Ho Oh","doi":"10.1109/ICHR.2008.4755941","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755941","url":null,"abstract":"This paper presents a new forward walking pattern known as stretch-legged walking and posture control algorithm in single support phase. Additionally, what has been termed the walking guide platform (WGP) was developed to verify the developed walking pattern. Walking pattern is generated by simple function such as sine function and 3rd polynomial. Especially pelvis center is generated by 3rd polynomial that is tuned by hip shape factor. The value is selected by experiment. Posture control that is composed of body balancing controller and vibration-reduction controller maintains posture of robot in single support phase. It prevent robot falling in walking. Based on proposed walking pattern, posture control makes realization of stretch-legged walking in humanoid robot.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"68 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":"127114651","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: 27
Psychological effects of an android bystander on human-human communication 机器人旁观者对人类交流的心理影响
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756018
Eri Takano, Y. Matsumoto, Yutaka Nakamura, H. Ishiguro, K. Sugamoto
{"title":"Psychological effects of an android bystander on human-human communication","authors":"Eri Takano, Y. Matsumoto, Yutaka Nakamura, H. Ishiguro, K. Sugamoto","doi":"10.1109/ICHR.2008.4756018","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756018","url":null,"abstract":"Many humanoid robots have been developed and actively investigated all over the world in order to realize partner robots which coexist in the human environment. For such robots, high communication ability is essential in order to naturally interact with human. However, even with the state-of-the-art interaction technology, it is still difficult for human to interact with humanoids without conscious efforts. In this paper, we apply the android robot, which has a quite similar appearance to a human, to a bystander in human-human communication. The android is not explicitly involved in the conversation, however makes small reactions to the behaviors of the humans, and the psychological effects on human subjects are investigated. Through the experiments, it is shown that mimicry behavior of the subject by the android is quite effective to harmonize the human-human communication.","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":"126050730","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
Motion indexing using coordination between essential actuators 使用基本致动器之间的协调进行运动分度
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755957
Gutemberg Guerra-Filho
{"title":"Motion indexing using coordination between essential actuators","authors":"Gutemberg Guerra-Filho","doi":"10.1109/ICHR.2008.4755957","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755957","url":null,"abstract":"We address the problem of organizing a partially annotated corpus of human movement by indexing and linking similar motion segments. The motion indexing problem consists in finding all pairs of similar motion segments in the corpus. Motion indexing is an important step towards full annotation of a motion corpus and, consequently, to the discovery of robust representations to humanoid motion. We propose an approach where each human action is associated with a set of essential actuators. The set of essential actuators may range from a set with one element (single actuator) to a set containing all actuators (whole body). The novelty here in our motion indexing approach is the use of coordination between actuators to discover similar motion segments and to find a minimal set of essential actuators for each segment. This approach respects the parallel aspect of human motion where actions are performed concurrently. This allows the combinatorial use of different actions at the same time. This approach considers only a minimal set of actuators to model each action which results in performance gains. In this paper, we present the design of a non-ambiguous similarity measure, two greedy heuristics, and an optimal algorithm for the construction of coordination regions that ultimately result in similar motion segments. The heuristics support the optimality of the proposed algorithm. We empirically validate the optimality and correctness of our algorithm in our experiments.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"8 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":"126386187","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
Inertia-coupling based balance control of a humanoid robot on unstable ground 基于惯性耦合的不稳定地面仿人机器人平衡控制
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755960
K. Tamegaya, Y. Kanamiya, M. Nagao, D. Sato
{"title":"Inertia-coupling based balance control of a humanoid robot on unstable ground","authors":"K. Tamegaya, Y. Kanamiya, M. Nagao, D. Sato","doi":"10.1109/ICHR.2008.4755960","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755960","url":null,"abstract":"A humanoid robot should be able to keep balance in the presence of various disturbances. We address here a class of disturbances that are due to an unstable ground, when conventional methods of control, e.g. ZMP based ones, are not applicable. The equation of motion has the form of an underactuated system, such as that of a free-flying robot or of a flexible-base/flexible-link robot. We develop an inertia-coupling based control method, similar to the control methods used in previous works for vibration suppression of flexible-base robots. Simulations with a planar humanoid robot are presented for two types of disturbances: (i) rotating surface and (ii) jointed-toe foot model. It is shown that, under the proposed control laws, balance can be recovered in a stable and optimal way, in both cases.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"52 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":"127955739","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
An open source software system for robot audition HARK and its evaluation 机器人试听系统HARK的开源软件系统及其评价
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756031
K. Nakadai, HIroshi G. Okuno, H. Nakajima, Yuji Hasegawa, H. Tsujino
{"title":"An open source software system for robot audition HARK and its evaluation","authors":"K. Nakadai, HIroshi G. Okuno, H. Nakajima, Yuji Hasegawa, H. Tsujino","doi":"10.1109/ICHR.2008.4756031","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756031","url":null,"abstract":"Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving human-robot interaction. The critical issue in robot audition is real-time processing in noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents open-source robot audition software, called ldquoHARKrdquo, which includes sound source localization, separation, and automatic speech recognition (ASR). Since separated sounds suffer from spectral distortion due to separation, HARK generates a temporal-frequency map of reliability, called ldquomissing feature maskrdquo, for features of separated sounds. Then separated sounds are recognized by the Missing-Feature Theory (MFT) based ASR with missing feature masks. HARK is implemented on the middleware called ldquoFlowDesignerrdquo to share intermediate audio data, which provides real-time processing. HARKpsilas performance in recognition of noisy/simultaneous speech is shown by using three humanoid robots, Honda ASIMO, SIG2 and Robovie with different microphone layouts.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"21 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":"128678092","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: 72
State machine-based controller for walk-halt-walk transitions on a biped robot 基于状态机的双足机器人步行-半步行转换控制器
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756027
H. Serhan, P. Hénaff, C. Nasr, F. Ouezdou
{"title":"State machine-based controller for walk-halt-walk transitions on a biped robot","authors":"H. Serhan, P. Hénaff, C. Nasr, F. Ouezdou","doi":"10.1109/ICHR.2008.4756027","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756027","url":null,"abstract":"In this paper, we show how it is possible to obtain a walk - standup - walk cycle with a biped robot using only a state machine controller. This work is a continuation of another in which the same approach was used to control the walking gait of the same robot. We introduce four critical angles that affect robot speed and step length. Our control approach consists of two control levels. The low level is a PID controller and the high level is a dynamic walking algorithm, inspired from human locomotion, which tunes the PD controllers and impose the reference signals based on the walking which increases walk stability. This method could be easily implemented in real time because it needs acceptable calculation time. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. We prove that we can maintain robot walking and stopping stability and walk cyclepsilas repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"40 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":"128557255","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
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