Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots最新文献_第9页

Angular momentum primitives for human turning: Control implications for biped robots 人类转弯的角动量原语:双足机器人的控制意义

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755962

M. Farrell, H. Herr

{"title":"Angular momentum primitives for human turning: Control implications for biped robots","authors":"M. Farrell, H. Herr","doi":"10.1109/ICHR.2008.4755962","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755962","url":null,"abstract":"Human locomotion involves a number of different complex activities. Humanoid robots, if they are expected to work in a human environment, should be expected to navigate obstacles and transients as well as, or better than a human being. Turning is one aspect of human walking that is poorly understood from the perspective of biomechanics and robotics. It is an important task comprising a large percentage of daily activities through most human environments. During turning the body is subjected to torques that the leave the body unstable. By understanding the contributions of the spin angular momentum about the center of mass we can gain insight on how to design better controllers for bipedal robots. There are several different types of turning; using alternate legs as the stance leg to accomplish the turn and then recover and also, turning can be a steady-state phenomena as well as a more transient behavior depending on speed. The contributions of spin angular momentum to the center of mass is considered in the case of a spin-turn where the inside foot pivots and the opposite foot the direction of the turn returns the body to level ground walking. Motivations for control of human walking bipeds are discussed. Further, a theory is developed that turning is dominated by contributions from the swing leg producing angular momentum about the body during the turn.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"58 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":"116976953","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

The Karlsruhe Humanoid Head 卡尔斯鲁厄人形头部

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755993

T. Asfour, K. Welke, P. Azad, A. Ude, R. Dillmann

{"title":"The Karlsruhe Humanoid Head","authors":"T. Asfour, K. Welke, P. Azad, A. Ude, R. Dillmann","doi":"10.1109/ICHR.2008.4755993","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755993","url":null,"abstract":"The design and construction of truly humanoid robots that can perceive and interact with the environment depends significantly on their perception capabilities. In this paper we present the Karlsruhe Humanoid Head, which has been designed to be used both as part of our humanoid robots ARMAR-IIIa and ARMAR-IIIb and as a stand-alone robot head for studying various visual perception tasks in the context of object recognition and human-robot interaction. The head has seven degrees of freedom (DoF). The eyes have a common tilt and can pan independently. Each eye is equipped with two digital color cameras, one with a wide-angle lens for peripheral vision and one with a narrow-angle lens for foveal vision to allow simple visuo-motor behaviors. Among these are tracking and saccadic motions towards salient regions, as well as more complex visual tasks such as hand-eye coordination. We present the mechatronic design concept, the motor control system, the sensor system and the computational system. To demonstrate the capabilities of the head, we present accuracy test results, and the implementation of both open-loop and closed-loop control on the head.","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":"114407307","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: 120

Designing communication activation system in group communication 群体通信中通信激活系统的设计

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756016

Yoichi Matsuyama, Hikaru Taniyama, S. Fujie, Tetsunori Kobayashi

{"title":"Designing communication activation system in group communication","authors":"Yoichi Matsuyama, Hikaru Taniyama, S. Fujie, Tetsunori Kobayashi","doi":"10.1109/ICHR.2008.4756016","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756016","url":null,"abstract":"Our community is facing serious problem: aging society. The population of elderly people is now increasing in Japan. Especially over 75 years old people is estimated to be up to 20 million in 2030. We have investigated in one day care centers which are facilities for elderly care. And we realized that communication is needed for its own sake in these facilities and active communication can cure even depression and dementia. Therefore we propose to cope with these problems using a robot as a communication activator in order to improve the effectiveness of group communication. We define group communication as one of the type of communication which is formed by several persons. This time, we focus on a recreation game named ldquoNandoku.rdquo Nandoku is a type of quize which can be described as group communication with a master of ceremony (MC). In this paper, we describe requirement for this system and system design. The system always selects its behavior and target (a participant in the game) to maximize ldquocommunication activeness.rdquo Communication activeness is defined as amount of several subjectspsila(ordinary three: A, B, C) participation, which are calculated with participantspsila face direction using camera information. For instance, if participant A is not fully participating by not making eye contact, the system is expected to select one of the behaviors such as ldquoCan you answer, Mr.A?rdquo to encourage A to participate in the game. We experimented with the system in a daycare center. Our results show subjectspsila participation is totally increased. That offers evidence that the robot can serve a practical role in improving the group communication as a communication activator.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"20 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":"121579483","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

An optimal control model unifying holonomic and nonholonomic walking 统一完整与非完整行走的最优控制模型

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756020

K. Mombaur, J. Laumond, E. Yoshida

引用次数: 31

Motion capture based human motion recognition and imitation by direct marker control 基于动作捕捉的直接标记控制人体动作识别与模仿

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755984

C. Ott, Dongheui Lee, Yoshihiko Nakamura

{"title":"Motion capture based human motion recognition and imitation by direct marker control","authors":"C. Ott, Dongheui Lee, Yoshihiko Nakamura","doi":"10.1109/ICHR.2008.4755984","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755984","url":null,"abstract":"This paper deals with the imitation of human motions by a humanoid robot based on marker point measurements from a 3D motion capture system. For imitating the humanpsilas motion, we propose a Cartesian control approach in which a set of control points on the humanoid is selected and the robot is virtually connected to the measured marker points via translational springs. The forces according to these springs drive a simplified simulation of the robot dynamics, such that the real robot motion can finally be generated based on joint position controllers effectively managing joint friction and other uncertain dynamics. This procedure allows to make the robot follow the marker points without the need of explicitly computing inverse kinematics. For the implementation of the marker control on a humanoid robot, we combine it with a center of gravity based balancing controller for the lower body joints. We integrate the marker control based motion imitation with the mimesis model, which is a mathematical model for motion learning, recognition, and generation based on hidden Markov models (HMMs). Learning, recognition, and generation of motion primitives are all performed in marker coordinates paving the way for extending these concepts to task space problems and object manipulation. Finally, an experimental evaluation of the presented concepts using a 38 degrees of freedom humanoid robot is discussed.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"76 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":"129352109","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: 124

Recognizing complex, parameterized gestures from monocular image sequences 从单目图像序列中识别复杂的参数化手势

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755973

Tobias Axenbeck, Maren Bennewitz, Sven Behnke, Wolfram Burgard

{"title":"Recognizing complex, parameterized gestures from monocular image sequences","authors":"Tobias Axenbeck, Maren Bennewitz, Sven Behnke, Wolfram Burgard","doi":"10.1109/ICHR.2008.4755973","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755973","url":null,"abstract":"Robotic assistants designed to coexist and communicate with humans in the real world should be able to interact with them in an intuitive way. This requires that the robots are able to recognize typical gestures performed by humans such as head shaking/nodding, hand waving, or pointing. In this paper, we present a system that is able to spot and recognize complex, parameterized gestures from monocular image sequences. To represent people, we locate their faces and hands using trained classifiers and track them over time. We use few, expressive features extracted out of this compact representation as input to hidden Markov models (HMMs). First, we segment gestures into distinct phases and train HMMs for each phase separately. Then, we construct composed HMMs, which consist of the individual phase-HMMs. Once a specific phase is recognized, we estimate the parameter of the current gesture, e.g., the target of a pointing gesture. As we demonstrate in the experiments, our method is able to robustly locate and track hands, despite of the fact that they can take a large number of substantially different shapes. Based on this, our system is able to reliably spot and recognize a variety of complex, parameterized gestures.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"370 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":"132413970","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: 17

RobotCub implementation of real-time least-square fitting of ellipses RobotCub实现的实时椭圆最小二乘拟合

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755964

N. Greggio, L. Manfredi, C. Laschi, P. Dario, M. Carrozza

{"title":"RobotCub implementation of real-time least-square fitting of ellipses","authors":"N. Greggio, L. Manfredi, C. Laschi, P. Dario, M. Carrozza","doi":"10.1109/ICHR.2008.4755964","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4755964","url":null,"abstract":"This paper presents the implementation of a new algorithm for pattern recognition in machine vision developed in our laboratory applied to the RobotCub humanoid robotics platform simulator. The algorithm is a robust and direct method for the least-square fitting of ellipses to scattered data. RobotCub is an open source platform, born to study the development of neuro-scientific and cognitive skills in human beings, especially in children. By the estimation of the surrounding objects properties (such as dimensions, distances, etc...) a subject can create a topographic map of the environment, in order to navigate through it without colliding with obstacles. In this work we implemented the method of the least-square fitting of ellipses of Maini (EDFE), previously developed in our laboratory, in a robotics context. Moreover, we compared its performance with the hough transform, and others least-square ellipse fittings techniques. We used our system to detect spherical objects, and we applied it to the simulated RobotCub platform. We performed several tests to prove the robustness of the algorithm within the overall system, and finally we present our results.","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":"133883278","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

Towards socially adaptive robots: A novel method for real time recognition of human-robot interaction styles 面向社会适应机器人:一种实时识别人机交互风格的新方法

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4756004

D. François, D. Polani, K. Dautenhahn

{"title":"Towards socially adaptive robots: A novel method for real time recognition of human-robot interaction styles","authors":"D. François, D. Polani, K. Dautenhahn","doi":"10.1109/ICHR.2008.4756004","DOIUrl":"https://doi.org/10.1109/ICHR.2008.4756004","url":null,"abstract":"Automatically detecting different styles of play in human-robot interaction is a key challenge towards adaptive robots, i.e. robots that are able to regulate the interactions and adapt to different interaction styles of the robot users. In this paper we present a novel algorithm for pattern recognition in human-robot interaction, the cascaded information bottleneck method. We apply it to real-time autonomous recognition of human-robot interaction styles. This method uses an information theoretic approach and enables to progressively extract relevant information from time series. It relies on a cascade of bottlenecks, the bottlenecks being trained one after the other according to the existing agglomerative information bottleneck algorithm. We show that a structure for the bottleneck states along the cascade emerges and we introduce a measure to extrapolate unseen data. We apply this method to real-time recognition of human-robot interaction styles by a robot in a detailed case study. The algorithm has been implemented for real interactions between humans and a real robot. We demonstrate that the algorithm, which is designed to operate real time, is capable of classifying interaction styles, with a good accuracy and a very acceptable delay. Our future work will evaluate this method in scenarios on robot-assisted therapy for children with autism.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"22 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":"127612317","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

Real-time selection and generation of fall damage reduction actions for humanoid robots 类人机器人跌落损伤减少动作的实时选择与生成

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755950

Kunihiro Ogata, K. Terada, Y. Kuniyoshi

引用次数: 50

Compliant interaction in household environments by the Armar-III humanoid robot Armar-III型人形机器人在家庭环境中的顺从交互

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots Pub Date : 2008-12-01 DOI: 10.1109/ICHR.2008.4755997

M. Prats, Steven Wieland, T. Asfour, A. P. Pobil, R. Dillmann

引用次数: 32