{"title":"Author Index Volume 15 (2018)","authors":"","doi":"10.1142/s0219876218990013","DOIUrl":"https://doi.org/10.1142/s0219876218990013","url":null,"abstract":"","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2018-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/s0219876218990013","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44547356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jean-Christophe Palyart Lamarche, O. Bruneau, J. Fontaine
{"title":"From Human Motion Captures to humanoid Spatial Coordination","authors":"Jean-Christophe Palyart Lamarche, O. Bruneau, J. Fontaine","doi":"10.1142/S0219843612500193","DOIUrl":"https://doi.org/10.1142/S0219843612500193","url":null,"abstract":"This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeo® between human (anthropomorphic proportions) and robot (joints con ̄guration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a speci ̄c humanoid robot (called NAO) in order to illustrate and compare some preliminary results.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2012-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843612500193","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"63928488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Active Segmentation.","authors":"Ajay Mishra, Yiannis Aloimonos","doi":"10.1142/S0219843609001784","DOIUrl":"https://doi.org/10.1142/S0219843609001784","url":null,"abstract":"<p><p>The human visual system observes and understands a scene/image by making a series of fixations. Every fixation point lies inside a particular region of arbitrary shape and size in the scene which can either be an object or just a part of it. We define as a basic segmentation problem the task of segmenting that region containing the fixation point. Segmenting the region containing the fixation is equivalent to finding the enclosing contour- a connected set of boundary edge fragments in the edge map of the scene - around the fixation. This enclosing contour should be a depth boundary.We present here a novel algorithm that finds this bounding contour and achieves the segmentation of one object, given the fixation. The proposed segmentation framework combines monocular cues (color/intensity/texture) with stereo and/or motion, in a cue independent manner. The semantic robots of the immediate future will be able to use this algorithm to automatically find objects in any environment. The capability of automatically segmenting objects in their visual field can bring the visual processing to the next level. Our approach is different from current approaches. While existing work attempts to segment the whole scene at once into many areas, we segment only one image region, specifically the one containing the fixation point. Experiments with real imagery collected by our active robot and from the known databases 1 demonstrate the promise of the approach.</p>","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2009-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843609001784","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"29169374","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"RECOGNIZING BEHAVIOR IN HAND-EYE COORDINATION PATTERNS.","authors":"Weilie Yi, Dana Ballard","doi":"10.1142/S0219843609001863","DOIUrl":"https://doi.org/10.1142/S0219843609001863","url":null,"abstract":"<p><p>Modeling human behavior is important for the design of robots as well as human-computer interfaces that use humanoid avatars. Constructive models have been built, but they have not captured all of the detailed structure of human behavior such as the moment-to-moment deployment and coordination of hand, head and eye gaze used in complex tasks. We show how this data from human subjects performing a task can be used to program a dynamic Bayes network (DBN) which in turn can be used to recognize new performance instances. As a specific demonstration we show that the steps in a complex activity such as sandwich making can be recognized by a DBN in real time.</p>","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2009-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843609001863","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"29299291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Daniel P Ferris, Gregory S Sawicki, Monica A Daley
{"title":"A PHYSIOLOGIST'S PERSPECTIVE ON ROBOTIC EXOSKELETONS FOR HUMAN LOCOMOTION.","authors":"Daniel P Ferris, Gregory S Sawicki, Monica A Daley","doi":"10.1142/S0219843607001138","DOIUrl":"https://doi.org/10.1142/S0219843607001138","url":null,"abstract":"Technological advances in robotic hardware and software have enabled powered exoskeletons to move from science fiction to the real world. The objective of this article is to emphasize two main points for future research. First, the design of future devices could be improved by exploiting biomechanical principles of animal locomotion. Two goals in exoskeleton research could particularly benefit from additional physiological perspective: 1) reduction in the metabolic energy expenditure of the user while wearing the device, and 2) minimization of the power requirements for actuating the exoskeleton. Second, a reciprocal potential exists for robotic exoskeletons to advance our understanding of human locomotor physiology. Experimental data from humans walking and running with robotic exoskeletons could provide important insight into the metabolic cost of locomotion that is impossible to gain with other methods. Given the mutual benefits of collaboration, it is imperative that engineers and physiologists work together in future studies on robotic exoskeletons for human locomotion.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843607001138","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"27214588","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Electrically Active Interface Defects in the (100)Si/SiOx/HfO2/TiN System: Origin, Instabilities and Passivation","authors":"P. Hurley, K. Cherkaoui, A. Groenland","doi":"10.1149/1.2355702","DOIUrl":"https://doi.org/10.1149/1.2355702","url":null,"abstract":"An analysis of the origin and passivation of interface states in (100)Si/SiOx/HfO2/TiN capacitor structures is presented. For high-k gate/metal gate capacitors which exhibit relatively high interface state densities (> 1x1011cm-2) the dominant interfacial defects are silicon dangling bond (Pbo) centres. For (100)Si/SiOx/HfO2/TiN capacitors which experience no high temperature thermal budget following HfO2/TiN gate formation (T<600{degree sign}C), the devices exhibit instabilities, where the interface state densities are modified during electrical measurements. The origin of this instability is studied. The response of the interface state density to rapid thermal annealing (30s) in N2 over the temperature range 600-900{degree sign}C is presented. In addition, results are presented for interface state passivation in forming gas (0.5H2/0.95N2) from 350-550{degree sign}C for (100)Si/SiOx/HfO2/TiN gate stacks with no post deposition annealing following TiN gate formation and for devices following a 900{degree sign}C, 30s N2 RTA.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2006-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1149/1.2355702","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"64096871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Design Principles for Dependable Robotic Assistants","authors":"R. Bischoff, V. Graefe","doi":"10.1142/S0219843604000071","DOIUrl":"https://doi.org/10.1142/S0219843604000071","url":null,"abstract":"A large number of functionalities have been integrated into a single fully autonomous humanoid robot, HERMES. To evaluate the dependability of this extremely complex machine, and its ability to interact with strangers, HERMES was exhibited in a museum, far away from its home laboratory, for more than six months. During this period the robot and its skills were regularly demonstrated to the public by non-expert presenters up to 12 hours per day. Also, HERMES interacted with the visitors, chatted with them in English, French and German, answered questions and performed services as requested by them. Only three major failures occurred during the 6-month period, all of them caused by failures of commercially available modules that could easily be replaced. The key to this success was the dependability that had been originally designed into HERMES. During the design process certain design principles were followed in both hardware and software. These principles are introduced, and some long- and short-term experiments carried out with the real robot in real environments are presented. In fact, by demonstrating HERMES in the museum, at trade fairs and in TV studios — besides our institute environment — we have learned valuable lessons, especially regarding the interaction of a complex robotic assistant with unknown humans. Although we did not quantitatively evaluate the robot’s performance or acceptance by the non-expert users, several qualitative results are given in this paper, and many videos highlighting these results can be downloaded from the HERMES homepage.","PeriodicalId":50319,"journal":{"name":"International Journal of Humanoid Robotics","volume":null,"pages":null},"PeriodicalIF":1.5,"publicationDate":"2004-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1142/S0219843604000071","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"63928479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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