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

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Automatic parameter adjustment of reflexive walking of a musculo-skeletal humanoid 肌肉骨骼类人自反行走的自动参数调整
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755925
Kazuo Hongo, Y. Nakanishi, Y. Namiki, I. Mizuuchi, M. Inaba
{"title":"Automatic parameter adjustment of reflexive walking of a musculo-skeletal humanoid","authors":"Kazuo Hongo, Y. Nakanishi, Y. Namiki, I. Mizuuchi, M. Inaba","doi":"10.1109/ICHR.2008.4755925","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755925","url":null,"abstract":"Humanoid robots need mechanical flexibility, redundancy, multiple degrees of freedom, and so on. Because the hard and heavy body can hurt human or surrounding objects, multiple degrees of freedom and flexibility are needed in a daily life. A novel musculo-skeletal humanoid dasiaKojiropsila is one of the answer to these demand. It has those physical characteristics. How to move this complex bodily structure is a challenging theme. Especially motion generation using only partial information by itself make actional multiplicity, it will be useful in diversified environment. This paper presents the approach to make Kojiro walk and make Kojiro adjust self-parameter to walk using 6-axis force sensors in the feet.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"2 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":"131972809","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
Human-Humanoid walking gait recognition 人-人形行走步态识别
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756011
V. Hafner, F. Bachmann
{"title":"Human-Humanoid walking gait recognition","authors":"V. Hafner, F. Bachmann","doi":"10.1109/ICHR.2008.4756011","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756011","url":null,"abstract":"This paper addresses a typical humanoid problem, that of walking gaits. Creating a stable walking gait on a humanoid robot is a problem that is addressed by many roboticists worldwide. We want to focus on a similar issue that is often overlooked: recognition of different walking behaviours in humans and humanoid robots. We introduce a method that is able to recognise persons as well as their current walking behaviour based on accelerometer data. This is an important skill and prerequisite for all human-humanoid imitation and interaction tasks.","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":"132647483","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
Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability 考虑速度、效率和稳定性的被动动力双足机器人的最优质量分布
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756006
Yan Huang, Qining Wang, G. Xie, Long Wang
{"title":"Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability","authors":"Yan Huang, Qining Wang, G. Xie, Long Wang","doi":"10.1109/ICHR.2008.4756006","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756006","url":null,"abstract":"This paper reports how mass distribution can affect the stability, efficiency and speed of a passive dynamic biped with upper body. To investigate the optimal mass distribution, we extend the simplest walking model with upper body, round feet and hip actuation. The mechanical parameters, including mass and the center of mass, are optimized by particle swarm optimization method. In addition, the effects of the hip torque on the walking characteristics are studied. Simulation results indicate that optimized mass distribution can improve walking characteristics of the passivity-based biped.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"78 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":"130602579","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
Teaching collaborative multi-robot tasks through demonstration 通过示范教学协作式多机器人任务
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755982
S. Chernova, M. Veloso
{"title":"Teaching collaborative multi-robot tasks through demonstration","authors":"S. Chernova, M. Veloso","doi":"10.1109/ICHR.2008.4755982","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755982","url":null,"abstract":"Humanoid robots working alongside humans in everyday environments is a long standing goal of the robotics community. To achieve this goal, methods for developing new robot behaviors that are intuitive and accessible to non-programmers are required. In this paper, we present a demonstration-based method for teaching distributed autonomous robots to coordinate their actions and perform collaborative multi-robot tasks. Within the presented framework, each robot learns an individual policy from teacher demonstrations using a confidence-based algorithm. Based on this learning approach, we contribute three techniques for teaching multi-robot coordination using different information sharing strategies. We evaluate and compare these approaches by teaching two Sony QRIO humanoid robots to perform three collaborative ball sorting tasks.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"222 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":"115532390","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: 33
A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points 一种基于引导点和协同点不间断切换的灵巧类人机器人导航方法
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756019
T. Sugihara, H. Kobayashi
{"title":"A handy humanoid robot navigation by non-interruptive switching of guided point and synergetic points","authors":"T. Sugihara, H. Kobayashi","doi":"10.1109/ICHR.2008.4756019","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756019","url":null,"abstract":"A handy humanoid robot navigation scheme is proposed. The whole-body motion of the robot is orchestrated from a motion of a manually guided body part by an input device and that of synergetically coordinated body parts. Even though a simple input device such as a joystick is used, a variety of motions are realized in realtime by switching the directly-guided point without interruptions. The key technique to guarantee the motion achievement is to design a motion segment with a duration from the beginning to the termination from a set of consistent subgoals. An interactive humanoid navigation system with a joystick is presented based on the scheme. The validity of the proposed method is shown through both simulation and real robot operations.","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":"123493957","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: 11
Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand 多指手类人机器人抓取动作的选择
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755931
Tokuo Tsuji, K. Harada, K. Kaneko, F. Kanehiro, Y. Kawai
{"title":"Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand","authors":"Tokuo Tsuji, K. Harada, K. Kaneko, F. Kanehiro, Y. Kawai","doi":"10.1109/ICHR.2008.4755931","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755931","url":null,"abstract":"This paper discusses grasp planning of a multi-fingered hand attached at the tip of a humanoid robotpsilas arm. Our planner can select a different grasping style even for the same object if a position/orientation of the object is changed. Also, if the planner cannot find a feasible grasping posture with arm/hand kinematics, a humanoid robot tries to use the whole body motion. These functions are necessary for realizing the robust grasp planning. Our planner defines convex models on both the object and each grasping style. By considering geometrical relationship among these convex models, we determine several parameters needed to define the final grasping configuration. The effectiveness of the proposed method is confirmed by several numerical examples and experimental results.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"3 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":"125133979","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
A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot 仿人机器人自主三维物体建模的次优视图算法
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756001
T. Foissotte, O. Stasse, Adrien Escande, A. Kheddar
{"title":"A next-best-view algorithm for autonomous 3D object modeling by a humanoid robot","authors":"T. Foissotte, O. Stasse, Adrien Escande, A. Kheddar","doi":"10.1109/ICHR.2008.4756001","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756001","url":null,"abstract":"We present our investigation to make humanoids build autonomously geometric models of unknown objects. Although good methods have been proposed for the specific problem of the next-best-view during the modeling and the recognition process; our approach is different and takes into account humanoid specificities in terms of embedded vision sensor and redundant motion capabilities. The problem to select the best next view of interest at each modeling step is formulated as an optimization problem where the whole robot posture needs to be defined jointly with the robot cameraspsila position and orientation. To achieve this, we propose a differentiable formula that expresses the amount of unknown data visible from a specific viewpoint, given only knowledge acquired in previous steps. In addition, a specific stability constraint is introduced to allow the robot to reach a configuration where its feet can be moved away from their initial position.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"216 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":"129905484","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: 21
Task and vision based online manipulator trajectory generation for a humanoid robot 基于任务和视觉的仿人机器人在线机械手轨迹生成
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755967
C. Eitner, Yuto Mori, K. Okada, M. Inaba
{"title":"Task and vision based online manipulator trajectory generation for a humanoid robot","authors":"C. Eitner, Yuto Mori, K. Okada, M. Inaba","doi":"10.1109/ICHR.2008.4755967","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755967","url":null,"abstract":"This paper presents a method to generate vision and task based robot manipulator trajectories. In the framework of the research on daily assistive robots the task formulated for this work consists in ranging boxes in a shelf or picking them up and placing them into a shopping cart. For object recovery SIFT keypoint tracking in combination with stereo vision is used. A collision free trajectory between two way points is generated based on a 3D-gridmap of the environment in front of the robot. A trajectory generation loop is implemented using resolved motion rate control and attractor coordinate frames that define the way points of the trajectory. The proposed method was tested on the humanoid robot HRP2-JSK.","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":"128148835","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
Learning primitive actions through object exploration 通过对象探索学习原始动作
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755978
D. Omrcen, A. Ude, A. Kos
{"title":"Learning primitive actions through object exploration","authors":"D. Omrcen, A. Ude, A. Kos","doi":"10.1109/ICHR.2008.4755978","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755978","url":null,"abstract":"The goal of this paper is to investigate how to acquire useful action knowledge by observing the results of exploratory actions on objects. We focus on poking as a representative type of nonprehensile manipulation. Poking can be defined as a short term pushing action. Here we propose an explorative process that allows the robot to learn the relationship between the point of contact on the object boundary and the angle of poke and the actual response of an object. The robot acquires this knowledge without having any prior knowledge about the action. Initially, the robot was only able to move in random directions. Such self emergent processes are essential for the early cognition. The proposed process has been implemented and tested on the humanoid robot Hoap-3.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"27 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":"125615713","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
Organizing multimodal perception for autonomous learning and interactive systems 组织自主学习和交互系统的多模态感知
Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755989
Jens Schmüdderich, H. Brandl, B. Bolder, Martin Heracles, H. Janssen, Inna Mikhailova, C. Goerick
{"title":"Organizing multimodal perception for autonomous learning and interactive systems","authors":"Jens Schmüdderich, H. Brandl, B. Bolder, Martin Heracles, H. Janssen, Inna Mikhailova, C. Goerick","doi":"10.1109/ICHR.2008.4755989","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755989","url":null,"abstract":"A stable perception of the environment is a crucial prerequisite for researching the learning of semantics from human-robot interaction and also for the generation of behavior relying on the robots perception. In this paper, we propose several contributions to this research field. To organize visual perception the concept of proto-objects is used for the representation of scene elements. These proto-objects are created by several different sources and can be combined to provide the means for interactive autonomous behavior generation. They are also processed by several classifiers, extracting different visual properties. The robot learns to associate speech labels with these properties by using the outcome of the classifiers for online training of a speech recognition system. To ease the combination of visual and speech classifier outputs, a necessity for the online training and basis for future learning of semantics, a common representation for all classifier results is used. This uniform handling of multimodal information provides the necessary flexibility for further extension. We will show the feasibility of the proposed approach by interactive experiments with the humanoid robot ASIMO.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"69 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":"124527163","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: 20
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