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

Movement reproduction and obstacle avoidance with dynamic movement primitives and potential fields 动态运动原语和势场的运动复制与避障

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755937

Dae-Hyung Park, Heiko Hoffmann, P. Pastor, S. Schaal

引用次数: 248

Modeling postural coordination dynamics using a closed-loop controller 基于闭环控制器的姿态协调动力学建模

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755932

V. Bonnet, P. Fraisse, N. Ramdani, J. Lagarde, S. Ramdani, B. Bardy

引用次数: 9

A VR navigation of a 6-DOF gait rehabilitation robot with upper and lower limbs connections 具有上肢和下肢连接的六自由度步态康复机器人的VR导航

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756010

B. Novandy, Jungwon Yoon, Christiand

{"title":"A VR navigation of a 6-DOF gait rehabilitation robot with upper and lower limbs connections","authors":"B. Novandy, Jungwon Yoon, Christiand","doi":"10.1109/ICHR.2008.4756010","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756010","url":null,"abstract":"This paper explains a 6-DOF gait rehabilitation robot, which may allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. The suggested robot is composed of an upper limb device, a sliding device, two footpad devices, and a partial body support system. The footpad device on the sliding device will generate 3-DOF spatial motions on sagittal plane for each foot. The upper limb device will allow arm of a user to swing naturally with a simple pendulum link with a passive prismatic joint. It is possible to use this robot inside normal home for the purpose of telerehabilitation since its size is compact and its power consumption is small. Synchronized gait patterns for this robot are designed to represent natural gait with the upper and lower limbs connections. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections, which will allow various rehabilitation training modes.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"29 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":"132940101","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: 6

Self-stabilizing bipedal locomotion employing neural oscillators 采用神经振荡器的自稳定双足运动

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755924

Woosung Yang, N. Chong, Syungkwon Ra, Changhwan Kim, Bum-Jae You

引用次数: 16

Self learning of gravity compensation by LOCH humanoid robot LOCH仿人机器人的自学习重力补偿

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755999

M. Xie, Z. Zhong, L. Zhang, H. J. Yang, C. Song, J. Li, L. Xian, L. Wang

引用次数: 4

Incremental learning of full body motion primitives for humanoid robots 仿人机器人全身运动原语的增量学习

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756000

D. Kulić, Dongheui Lee, C. Ott, Yoshihiko Nakamura

引用次数: 51

Robust real-time stereo-based markerless human motion capture 鲁棒实时基于立体的无标记人体运动捕捉

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755975

P. Azad, T. Asfour, R. Dillmann

{"title":"Robust real-time stereo-based markerless human motion capture","authors":"P. Azad, T. Asfour, R. Dillmann","doi":"10.1109/ICHR.2008.4755975","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755975","url":null,"abstract":"The main problem of markerless human motion capture is the high-dimensional search space. Tracking approaches therefore utilize temporal information and rely on the pose differences between consecutive frames being small. Typically, systems using a pure tracking approach are sensitive to fast movements or require high frame rates, respectively. However, on the other hand, the complexity of the problem does not allow real-time processing at such high frame rates. Furthermore, pure tracking approaches often only recover by chance once tracking has got lost. In this paper, we present a novel approach building on top of a particle filtering framework that combines an edge cue and 3D hand/head tracking in a distance cue for human upper body tracking, as proposed in our earlier work. To overcome the mentioned deficiencies, the solutions of an inverse kinematics problem for a - in the context of the problem - redundant arm model are incorporated into the sampling of particles in a simplified annealed particle filter. Furthermore, a prioritized fusion method and adaptive shoulder positions are introduced in order to allow proper model alignment and therefore smooth tracking. Results of real-world experiments show that the proposed system is capable of robust online tracking of 3D human motion at a frame rate of 15 Hz. Initialization is accomplished automatically.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"87 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":"128422960","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: 34

Dynamic display of facial expressions on the face robot made by using a life mask 使用生命面具制作的面部机器人动态显示面部表情

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756017

T. Hashimoto, Sachio Hiramatsu, Hiroshi Kobayashi

引用次数: 21

Task dependent human-like grasping 任务依赖的人类抓取

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755949

Baris Ozyer, Erhan Öztop

引用次数: 5

An autonomous singing and news broadcasting face robot 一个自主唱歌和新闻广播面部机器人

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755994

Chyi-Yeu Lin, C. Tseng, H. Gu, Kuo-Liang Chung, C. Fahn, Kai-Jay Lu, Chih-Cheng Chang

引用次数: 3