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

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Analysis of physical human-robot interaction for motor learning with physical help 物理帮助下运动学习的物理人机交互分析
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755933
Shuhei Ikemoto, T. Minato, H. Ishiguro
{"title":"Analysis of physical human-robot interaction for motor learning with physical help","authors":"Shuhei Ikemoto, T. Minato, H. Ishiguro","doi":"10.1109/ICHR.2008.4755933","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755933","url":null,"abstract":"In this paper we investigate physical human-robot interaction (PHRI) as an important extension of traditional HRI research. The aim of this research is to develop a humanoid robot that can work in the same spaces as humans. We first propose a new control system that takes advantage of inherent joint flexibility. The control system is applied on a new humanoid robot called CB2. In order to clarify the difference between successful and unsuccesful interaction, we conduct an experiment where a human subject has to help the CB2 robot in its rising-up behavior. We also develop a new measure that reveals the difference between smooth and nonsmooth physical interactions. An analysis of the experimentpsilas data, based on the introduced measure, shows significant differences between experts and beginners in human-robot interaction. Consequently, we assume that this measure can be used in the evaluation method required for a motor learning system that uses physical help from a human helper.","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":"117177212","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: 13
A friction based “twirl” for biped robots 基于摩擦的双足机器人“旋转”
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755965
K. Miura, Shin'ichiro Nakaoka, M. Morisawa, K. Harada, S. Kajita
{"title":"A friction based “twirl” for biped robots","authors":"K. Miura, Shin'ichiro Nakaoka, M. Morisawa, K. Harada, S. Kajita","doi":"10.1109/ICHR.2008.4755965","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755965","url":null,"abstract":"This paper presents preliminary results on generating turning motion of a humanoid robot by slipping the feet on the ground. We start by presenting the fact that such slip motion is used by humans based on actual human motion capture data, and show how this is necessary for sophisticated human-like motion. To generate the slip motion, we predict the amount of slip using the hypothesis that the turning motion is caused by the effect of minimizing the power generated by floor friction. Verification is conducted through both simulation and experiment with the humanoid robot HRP-2. A ldquotwirlrdquo utilizing both feet slip is successfully demonstrated.","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":"123447636","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: 37
The initial design and manufacturing process of a low cost hand for the robot iCub 初步设计和制造了一种低成本手握机器人iCub
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755929
S. Davis, N. Tsagarakis, D. Caldwell
{"title":"The initial design and manufacturing process of a low cost hand for the robot iCub","authors":"S. Davis, N. Tsagarakis, D. Caldwell","doi":"10.1109/ICHR.2008.4755929","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755929","url":null,"abstract":"This paper describes the design of a new hand for the robot iCub. Developed as part of the European project RobotCub the iCub is a robot baby based on an 18 month to 2.5 year old child. The current iCub hands are under-actuated which means they are not as dexterous as a true childpsilas hand. The hand designed in this work has a total of 22 degrees of freedom of which 18 are independently drivable. In order to minimise weight and cost the hand has been produced from acrylonitrile butadiene styrene (ABS) using 3D printing techniques. This removes the need for extensive machining which would add significantly to the overall cost of the hand. A prototype finger has been produced and tested and a full mechanical design is presented.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"14 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":"128892581","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: 30
Reem-B: An autonomous lightweight human-size humanoid robot Reem-B:一种自主的轻量级人形机器人
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755995
R. Téllez, F. Ferro, Sergio García, E. Gomez, E. Jorge, D. Mora, Daniel Pinyol, J. Poyatos, Oriol Torres, Jorge Velazquez, Davide Faconti
{"title":"Reem-B: An autonomous lightweight human-size humanoid robot","authors":"R. Téllez, F. Ferro, Sergio García, E. Gomez, E. Jorge, D. Mora, Daniel Pinyol, J. Poyatos, Oriol Torres, Jorge Velazquez, Davide Faconti","doi":"10.1109/ICHR.2008.4755995","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755995","url":null,"abstract":"This paper introduces the humanoid robot Reem-B, built by Pal robotics as a research platform in the field of service robots. The idea is to produce robots that can help humans and cohabit their environments. For this purpose, the body plan, sensory and actuator system of the robot, as well as its cognitive abilities must be designed to perform real-world tasks including dynamic walking, interaction with people or object recognition and manipulation. Reem-B achieves this scope by using two legs, two strong arms with fingered hands, and a software suite that controls all its degrees of freedom, coordinating them with vision and auditory systems. The main difference with other humanoids of its size is its level of autonomy. Autonomy in this robot has been improved from other robots at three different levels: with an increased battery life (estimated twice of the competitors), with the ability to autonomously navigate in indoor environments while avoiding obstacles, and by integrating all the control systems within the robot itself.","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":"129846204","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: 57
Expectation-driven autonomous learning and interaction system 期望驱动的自主学习与交互系统
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756030
B. Bolder, H. Brandl, Martin Heracles, H. Janssen, Inna Mikhailova, Jens Schmüdderich, C. Goerick
{"title":"Expectation-driven autonomous learning and interaction system","authors":"B. Bolder, H. Brandl, Martin Heracles, H. Janssen, Inna Mikhailova, Jens Schmüdderich, C. Goerick","doi":"10.1109/ICHR.2008.4756030","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756030","url":null,"abstract":"We introduce our latest autonomous learning and interaction system instance ALIS 2. It comprises different sensing modalities for visual (depth blobs, planar surfaces, motion) and auditory (speech, localization) signals and self-collision free behavior generation on the robot ASIMO. The system design emphasizes the split into a completely autonomous reactive layer and an expectation generation layer. Different feature channels can be classified and named with arbitrary speech labels in on-line learning sessions. The feasibility of the proposed approach is shown by interaction experiments.","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":"130237474","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: 31
Visual servoing for humanoid grasping and manipulation tasks 人形抓取和操纵任务的视觉伺服
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755985
N. Vahrenkamp, Steven Wieland, P. Azad, D. Gonzalez-Aguirre, T. Asfour, R. Dillmann
{"title":"Visual servoing for humanoid grasping and manipulation tasks","authors":"N. Vahrenkamp, Steven Wieland, P. Azad, D. Gonzalez-Aguirre, T. Asfour, R. Dillmann","doi":"10.1109/ICHR.2008.4755985","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755985","url":null,"abstract":"Using visual feedback to control the movement of the end-effector is a common approach for robust execution of robot movements in real-world scenarios. Over the years several visual servoing algorithms have been developed and implemented for various types of robot hardware. In this paper, we present a hybrid approach which combines visual estimations with kinematically determined orientations to control the movement of a humanoid arm. The approach has been evaluated with the humanoid robot ARMAR III using the stereo system of the active head for perception as well as the torso and arms equipped with five finger hands for actuation. We show how a robust visual perception is used to control complex robots without any hand-eye calibration. Furthermore, the robustness of the system is improved by estimating the hand position in case of failed visual hand tracking due to lightning artifacts or occlusions. The proposed control scheme is based on the fusion of the sensor channels for visual perception, force measurement and motor encoder data. The combination of these different data sources results in a reactive, visually guided control that allows the robot ARMAR-III to execute grasping tasks in a real-world scenario.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"67 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":"121367272","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: 93
Phase plane control of a humanoid 仿人机器人的相位平面控制
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755959
Dongil Choi, C. Atkeson, Sung Ju Cho, Jung-Yup Kim
{"title":"Phase plane control of a humanoid","authors":"Dongil Choi, C. Atkeson, Sung Ju Cho, Jung-Yup Kim","doi":"10.1109/ICHR.2008.4755959","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755959","url":null,"abstract":"This paper proposes ankle torque and foot placement control methods in the coronal plane (frontal or roll) for a humanoid robot. It is an important problem to control the posture of a humanoid robot in the coronal plane during walking. When the humanoid robot walks, the phase portrait of the pelvis position in the coronal makes an elliptical shape. In this paper, we develop an ankle torque and foot placement controller for tracking the desired phase portrait. We design these two controllers by using simulation of a simplified compass gait biped model to regulate the desired phase portrait of the pelvis position. The performance of these controllers is evaluated on a hydraulic humanoid robot.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"45 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":"122756186","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
Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link 基于基杆非驱动动力学的仿人机器人惯性参数辨识
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755923
K. Ayusawa, G. Venture, Yoshihiko Nakamura
{"title":"Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link","authors":"K. Ayusawa, G. Venture, Yoshihiko Nakamura","doi":"10.1109/ICHR.2008.4755923","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755923","url":null,"abstract":"The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; however they required the joint torque estimates that can be obtained by modeling of the transmission or by direct measurements. To overcome that issue we have recently developed a new method to estimate the inertial parameters of legged systems. By using the base-link equations only, we obtain a reduced identification model that is free of joint torque estimates. In this paper we propose to apply the method to a human-size humanoid robot. The preliminary experimental results are given and discussed.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"25 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":"116229715","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: 23
A prototype fingertip with high spatial resolution pressure sensing for the robot iCub 用于iCub机器人的高空间分辨率压力传感的指尖原型
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755988
A. Schmitz, M. Maggiali, M. Randazzo, L. Natale, G. Metta
{"title":"A prototype fingertip with high spatial resolution pressure sensing for the robot iCub","authors":"A. Schmitz, M. Maggiali, M. Randazzo, L. Natale, G. Metta","doi":"10.1109/ICHR.2008.4755988","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755988","url":null,"abstract":"Tactile feedback is of crucial importance for object manipulation in unknown environments. In this paper we describe the design and realization of a fingertip which includes a capacitive pressure sensor with 12 sensitive zones. It is naturally shaped and its size is small enough so that it can be mounted on the fingers of the humanoid robot iCub. It also embeds the electronic device which performs A/D conversion: this is beneficial for the signal to noise ratio and reduces the number of wires required to connect the fingertip to the robot. The fingertip is made of silicone, which makes its surface and inner structure compliant and flexible. We present preliminary experiments performed with the first prototype.","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":"126625541","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: 31
A symmetric walking cancellation algorithm of a foot-platform locomotion interface 脚-平台运动界面的对称行走抵消算法
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756023
Jungwon Yoon, Jangwoo Park, J. Ryu
{"title":"A symmetric walking cancellation algorithm of a foot-platform locomotion interface","authors":"Jungwon Yoon, Jangwoo Park, J. Ryu","doi":"10.1109/ICHR.2008.4756023","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756023","url":null,"abstract":"This paper describes a symmetric walking cancellation algorithm for generating smooth motions on the foot-platform locomotion interface. This solves the problem of the asymmetric walking velocity profile of the swing and stance feet in the existing constant-velocity walking cancellation method. The proposed symmetric walking cancellation method cancels the stance foot motion with the opposite swing foot motion. Walking simulations, experiments, and user evaluations showed that the proposed symmetric walking cancellation algorithm is better than the previous constant-velocity algorithm in terms of smoothness, absence of delay, and walking stability.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"31 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":"128258147","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
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