论文信息 - Motion Planning for Humanoid Robots

2013 - 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Model parameter estimation of humanoid robots using static contact force measurements

Model based controllers are widely used to control motions of humanoid robots. In most cases these are based on the center of mass (CoM) model of the humanoid. For this it is important that the parameters of this model are accurately known. In this paper we contribute a method to estimate the base parameters of the full 3D CoM model of humanoid robots. This method only uses measurements of the joint angles and static contact forces for a number of postures. We also contribute a method to determine optimal stable measurement postures. The estimation method is verified in experiments on humanoid robot TUlip and a statistical analysis is performed to check the reliability of the estimated base parameters.

2008 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Adaptive locomotion controller and reflex system for humanoid robots

This paper deals with reflexes against sudden obstacles for humanoid robots, which are combined with a proposed piecewise-linear pattern generator. The reflex action consists of modulating the motorspsila commands by the outputs of the force sensors located under the robot legs, and through a given primitive neural network previously proposed. Eventually, the primitive reflex is modified by the afferent signals to be more adaptable and robust against sudden obstacles. The final reflex structure enables the response of the sensory signals to be coordinated and modulated with locomotion controllerpsilas outputs to achieve an intended stabilizing behavior of the robot. The effectiveness of the proposed reflex is demonstrated by experiment using Fujitsupsilas humanoid robot HOAP-3. It is shown that the primitive reflex movement previously proposed becomes robust against sudden obstacle that hits the robot sole plate at different locations. The proposed reflex system, therefore, contributes towards the safer interaction of the humanoid robot with the environment.

2009 - 2009 ICCAS-SICE

Intelligent gesture generation in Humanoid robot using multi-component synchronization and coordination

This paper demonstrates the experiments conducted on a Humanoid robot, for generating intelligent gestures using knowledge-based system (KBS). The Jess (Java Expert System Shell) expert system is used as the knowledge-based tool and different gestures are generated autonomously using different rules. The KBS guarantees the predictability of the behaviors and supports to analyze the non-determinism in robot operation. With this approach, any user can generate any purposeful behaviors using simple facts and rules to demonstrate different robot action sequences. We found that KBS is highly suitable for generating synchronized and coordinated intelligent gestures in humanoid robots.

2012 - SyRoCo

Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics

In this paper a human-based control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the CoM as well as the relative position of robot's feet. Through the proposed study, it is shown that this reduced set of data allows to fully describe and reproduce a whole body human-like walking. In addition of reducing the number of controlled variables, the proposed control strategy has the advantage of not requiring a complete walking cycle decomposition due to its continuous character. Simulations results are presented to show the e®ectiveness of the proposed control scheme.

2007 - 2007 7th IEEE-RAS International Conference on Humanoid Robots

Concept for behavior generation for the humanoid robot head ROMAN based on habits of interaction

Natural human-robot interaction is an important research topic in the field of humanoid robotics. Because more than 60% of human interaction is conducted non-verbally motion generation for a humanoid robot is of enormous importance for human-robot interaction. The content of this paper is a biological inspired system for describing and generating expressions by combining the simple habits of interaction of several single motors or microphones. Depending on these combinations all expressions and especially combinations of expressions of the robot can be described in a technical way. The implementation of the habits of interaction is realized with a behavior based approach. That allows to combine different expressions and to vary their intensity. In addition the results of different experiments realized to check the capability of the interaction habit approach are presented. Furthermore the mechatronical design of the humanoid robot head ROMAN is given.

2012

Implementation of a Framework for Imitation Learning on a Humanoid Robot Using a Cognitive Architecture

Robots are designed to assist human beings to complete tasks. As described in many research journals and scientific fictions, researchers and the general public expect that one day robots can complete certain tasks independently and autonomously in our world. A typical implementation of Artificial Intelligence (AI) in robotics research is expected to incorporate Knowledge Representation, Automated Reasoning, Machine Learning, and Computer Vision [Russell and Norvig, 2010]. From the beginning of this century, the importance of cognitive sciences is highlighted by the researchers in both robotics and artificial intelligences[Russell and Norvig, 2010]. Real Cognitive Science is based on the testing and experiments on animals and humans to obtain the understanding and knowledge of the cognition, and AI research is based on designing and testing algorithms on a computer based artificial system. In the development, research in both Cognitive Sciences and AI benefit each other. Cognitive Science provides theoretical foundation and solutions to the problems in AI, and AI enhances the research in Cognitive Science and provides possible research directions for Cognitive Science. Recently, an emerging field, named Cognitive Robotics, is developed for robots to generate human-like behaviors and intelligences, which integrates perception, action, learning, decision-making, and communication[Kawamura and Browne, 2009]. Cognitive Robotics largely incorporates the concepts in the research of cognitive sciences and tries to simulate the architecture of the information processing of human cognition. Currently, some long term requirements are proposed for Cognitive Robotics, which put concentration on the embodiment of cognitive concepts [Anderson, 2003; Sloman et al., 2006]. Increasing achievements in Cognitive Robotics began to grab the attention of the robotics research community. However, currently, it is still difficult to design truly cognition, especially human-like cognition, on a robotic platform due to the limitations in mechanism, computation, architecture, etc. [Brooks, 1991]. Therefore, on one side, researchers try to place robots in a human-existing dynamic environment to complete tasks[Brooks, 1991]; on the other side, researchers still do not obtain a general architecture to generate complex behaviors in such area for robots[Sloman, 2001]. In recent research, researchers try to place robots in robotic aid area, where robots can assist humans to complete tasks[Tan et al., 2005].

2006 - Journal of Vibration and Control

Design and Low-Level Control of a Humanoid Robot Using a Distributed Architecture Approach

This article describes methods and strategies used to develop a humanoid robot with a distributed architecture approach where centralized and local control co-exist and concur to provide robust full monitoring and efficient control of a complex system with 22 DOF. A description of the hardware is given before introducing the architecture, since that greatly influences the methods implemented for the control systems and helps in understanding the general decisions. The platform is still undergoing improvement, but the results are very promising, mainly because many potential approaches and research issues have presented themselves and will provide opportunities to test distributed control systems with possibilities that go far beyond the classical control of robots. Some practical issues of servomotor control are also considered since that turned out to be necessary before implementing higher levels of control-these are, in turn, addressed in the last part the article, which gives an example to demonstrate the possibility of keeping a humanoid robot in an upright balanced position using only local control after reaction forces on the ground.

2018 - Frontiers in Neurorobotics

Posture Control—Human-Inspired Approaches for Humanoid Robot Benchmarking: Conceptualizing Tests, Protocols and Analyses

Posture control is indispensable for both humans and humanoid robots, which becomes especially evident when performing sensorimotor tasks such as moving on compliant terrain or interacting with the environment. Posture control is therefore targeted in recent proposals of robot benchmarking in order to advance their development. This Methods article suggests corresponding robot tests of standing balance, drawing inspirations from the human sensorimotor system and presenting examples from robot experiments. To account for a considerable technical and algorithmic diversity among robots, we focus in our tests on basic posture control mechanisms, which provide humans with an impressive postural versatility and robustness. Specifically, we focus on the mechanically challenging balancing of the whole body above the feet in the sagittal plane around the ankle joints in concert with the upper body balancing around the hip joints. The suggested tests target three key issues of human balancing, which appear equally relevant for humanoid bipeds: (1) four basic physical disturbances (support surface (SS) tilt and translation, field and contact forces) may affect the balancing in any given degree of freedom (DoF). Targeting these disturbances allows us to abstract from the manifold of possible behavioral tasks. (2) Posture control interacts in a conflict-free way with the control of voluntary movements for undisturbed movement execution, both with “reactive” balancing of external disturbances and “proactive” balancing of self-produced disturbances from the voluntary movements. Our proposals therefore target both types of disturbances and their superposition. (3) Relevant for both versatility and robustness of the control, linkages between the posture control mechanisms across DoFs provide their functional cooperation and coordination at will and on functional demands. The suggested tests therefore include ankle-hip coordination. Suggested benchmarking criteria build on the evoked sway magnitude, normalized to robot weight and Center of mass (COM) height, in relation to reference ranges that remain to be established. The references may include human likeness features. The proposed benchmarking concept may in principle also be applied to wearable robots, where a human user may command movements, but may not be aware of the additionally required postural control, which then needs to be implemented into the robot.

2015 - Int. J. Humanoid Robotics

Importance of Touch for Conveying Affection in a Multimodal Interaction with a Small Humanoid Robot

To be accepted as a part of our everyday lives, companion robots will require the capability to communicate socially, recognizing people's behavior and responding appropriately. In particular, we hypothesized that a humanoid robot should be able to recognize affectionate touches conveying liking or dislike because (a) a humanoid form elicits expectations of a high degree of social intelligence, (b) touch behavior plays a fundamental and crucial role in human bonding, and (c) robotic responses providing affection could contribute to people's quality of life. The hypothesis that people will seek to affectionately touch a robot needed to be verified because robots are typically not soft or warm like humans, and people can communicate through various other modalities such as vision and sound. The main challenge faced was that people's social norms are highly complex, involving behavior in multiple channels. To deal with this challenge, we adopted an approach in which we analyzed free interactions and also asked participants to rate short video-clips depicting human–robot interaction. As a result, we verified that touch plays an important part in the communication of affection from a person to a humanoid robot considered capable of recognizing cues in touch, vision, and sound. Our results suggest that designers of affectionate interactions with a humanoid robot should not ignore the fundamental modality of touch.

2002

Demonstrating the Humanoid Robot HERMES at an Exhibition: A Long-Term Dependability Test

HERMES, a laboratory prototype of a humanoid service robot, served in a museum, far away from its home laboratory, for more than six months up to 18 hours per day. During this period the robot and its skills were regularly demonstrated to the public by non-expert presenters. 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-months-period, all of them caused by failures of commercially available modules that could easily be replaced. Key to this success was the dependability that had been designed into HERMES. We introduce the concept of dependability and describe the design strategies that have led to a high degree of dependability of our robot. To be accepted by society and to be entrusted with important or even critical services, future service robots must be similarly dependable as todays cars or telephones. We argue that true dependability of complex intelligent robots can only be achieved by actually building and integrating prototypes and subjecting them to long-term tests with outsiders and away from their home laboratories. In fact, by demonstrating HERMES in the museum, at trade fairs and in TV studios we have learned valuable lessons, especially regarding the interaction of a complex service robot with unknown humans.

2008 - RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication

Speaker localization using the TDOA-based feature matrix for a humanoid robot

Research on human-robot interaction has recently been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report on a speaker localization system with six microphones for a humanoid robot called MAHRU of KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. To verify the solid performance of our speaker localization system for a humanoid robot, we present the various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

2017 - Robotics Auton. Syst.

Theatrical approach: Designing human-like behaviour in humanoid robots

Abstract A key challenge in designing humanoid robots is producing natural and human-like behaviour. This study addressed this challenge by developing an instructive interface to design natural and human-like behaviour in a humanoid robot that will be helpful not only for professional robot motion designers but also for nonprofessionals. A staging method called contemporary colloquial theatre theory has been developed in the field of theatre to reproduce the natural behaviour of humans. Based on the theory, to design robot behaviour, we extracted implicit knowledge from a director’s instructions given to a robot actor in a robot theatre project, where the robot functions as an actor and interacts with human actors. This paper shows the validity of applying this knowledge extraction method by means of a public stage play entitled Night On The Milky Way Train and two short plays created for the purpose of carrying out an analysis. Our analysis produced important rules for designing the behaviour of humanoid robots. The rules were extracted in forms suited to the instructive function of the interface. In this paper, we report the results of a subjective experiment conducted to verify the effectiveness of this function. Our experimental results suggest that the rules derived are effective in improving robot behaviour.

2005 - Int. J. Humanoid Robotics

A Framework for Learning and Control in Intelligent Humanoid Robots

Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing, unstructured environment, a collaboration with human clients, and the integration of manual dexterity and mobility. Control frameworks for service-oriented humanoid robots must, therefore, accommodate many independently challenging issues including: techniques for configuring networks of sensorimotor resources; modeling tasks and constructing behavior in partially observable environments; and integrated control paradigms for mobile manipulators. Our approach advocates actively gathering salient information, modeling the environment, reasoning about solutions to new problems, and coordinating ad hoc interactions between multiple degrees of freedom to do mechanical work. Representations that encode control knowledge are a primary concern. Individual robots must exploit declarative structure for planning and must learn procedural strategies that work in recognizable contexts. We present several pieces of an overall framework in which a robot learns situated policies for control that exploit existing control knowledge and extend its scope. Several examples drawn from the research agenda at the Laboratory for Perceptual Robotics are used to illustrate the ideas.

2004 - ICEC

Realization of Tai-Chi Motion Using a Humanoid Robot

Even though in recent years research and development of humanoid robots has increased, the major topics of research generally focus on how to make a robot perform specific motions such as walking. However, walking is only one of the complicated motions humans can perform. For robots to play an active role in society as our partner, they must be able to simulate precisely various kinds of human actions . We chose tai-chi as an example of complicated human actions and succeeded in programming a robot to perform the 24 fundamental tai-chi actions.

2004 - ISER

Coordinated Task Execution for Humanoid Robots

This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots. Focusing on tasks to be executed by different subsystems of the robot (e.g. mobile platform, two redundant arms, a head with vision and acoustic system), a motion coordination scheme is presented. The coordination scheme is based on the synchronization of the motion of each subsystem while performing a common task. The validity of the proposed coordination scheme is experimen- tally demonstrated by different tasks of the humanoid robot e.g. two-arm tasks, head-arm tasks or platform-arm tasks.

2007 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Autonomous learning of 3D reaching in a humanoid robot

In this paper, we describe the implementation of a precise reaching controller on an upper-torso humanoid robot. The solution we propose does not rely on prior models of the kinematic structure of either the arm or the head. A learning strategy enables the robot to acquire the required sensory-motor transformations. After learning the robot is able to precisely reach for a visually identified object in the 3-dimensional space. In this technique we use the fixation point (represented in the head joints motor space) as a reference frame to code the position of the object and to represent the eye-to-hand Jacobian matrix. This strategy successfully deals with the kinematic redundancy of the structure and constraints the dimensionality of the problem.

2006 - HRI '06

Perceptions of ASIMO: an exploration on co-operation and competition with humans and humanoid robots

Recent developments in humanoid robotics have made possible a vision of robots in everyday use in the home and workplace. However, little is known about how we should design social interactions with humanoid robots. We explored how co-operation versus competition in a game shaped people's perceptions of ASIMO. We found that in the co-operative interaction, people found the robot more sociable and more intellectual than in the competitive interaction while people felt more positive and were more involved in the task in the competitive condition than in the co-operative condition. Our poster presents these findings with the supporting theoretical background.

2007 - 2007 7th IEEE-RAS International Conference on Humanoid Robots

Falling motion control for humanoid robots while walking

Humanoid robots are prone to fall caused by disturbances. If the disturbance is weak, a humanoid robot can avoid falling by using feedback control. If the disturbance is strong, humanoid robots can perform an Ukemi motion: an active shock-reducing motion. This research proposes a technique for selecting an optimal strategy to handle disturbances while walking, and describes a method of generating Ukemi motion. This technique detects disturbances using sensor data while walking steadily. Moreover, an experiment with a real robot was performed where fall detection was computed using discriminant analysis of walking data labelled as fall and non-fall. Furthermore, this study uses the three-dimensional linear inverted pendulum mode (3D-LIPM), which has been utilized in gait generation of humanoid robots, to generate a solution for the center of gravity for the contracting/expanding fall correction movement. The effectiveness of the proposed technique was confirmed by the verification experiments.

2007 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Stereo-based 6D object localization for grasping with humanoid robot systems

Robust vision-based grasping is still a hard problem for humanoid robot systems. When being restricted to using the camera system built-in into the robot's head for object localization, the scenarios get often very simplified in order to allow the robot to grasp autonomously. Within the computer vision community, many object recognition and localization systems exist, but in general, they are not tailored to the application on a humanoid robot. In particular, accurate 6D object localization in the camera coordinate system with respect to a 3D rigid model is crucial for a general framework for grasping. While many approaches try to avoid the use of stereo calibration, we will present a system that makes explicit use of the stereo camera system in order to achieve maximum depth accuracy. Our system can deal with textured objects as well as objects that can be segmented globally and are defined by their shape. Thus, it covers the cases of objects with complex texture and complex shape. Our work is directly linked to a grasping framework being implemented on the humanoid robot ARM AR and serves as its perception module for various grasping and manipulation experiments in a kitchen scenario.

1999 - Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)

Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking

This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (Waseda bipedal humanoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we present a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot is able to perform dynamic stepping and walking forward and backward in a continuous time while someone is pushing or pulling its hand. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

Motion Planning for Humanoid Robots

패턴 인식 알고리즘 기반 휴머노이드 경로 시스템 개발

Research on Key Technologies of Humanoid Robot

Fragile Watermarking of 3D Motion Data

Using a weighted pseudo-inverse matrix to generate upper body motion for a humanoid robot doing household tasks

Trajectory following for legged robots

Fuzzy Integral-Based Gaze Control Architecture Incorporated With Modified-Univector Field-Based Navigation for Humanoid Robots

RRT-Plan: A Randomized Algorithm for STRIPS Planning

View/state planning for three-dimensional object reconstruction under uncertainty

Approximation of feasibility tests for reactive walk on HRP-2

Deformable Motion: Squeezing into Cluttered Environments

Anytime RRTs

Anytime, Dynamic Planning in High-dimensional Search Spaces

Randomized path planning for redundant manipulators without inverse kinematics

A Relational Approach to Tool-Use Learning in Robots

Replanning with RRTs

Airbus/future of aircraft factory HRP-2 as universal worker proof of concept

BiSpace Planning: Concurrent Multi-Space Exploration

Rapidly-exploring Sorted Random Tree: A Self Adaptive Random Motion Planning Algorithm

STOMP: Stochastic trajectory optimization for motion planning

RSRT: Rapidly exploring sorted random tree - online adapting rrt to reduce computational solving time while motion planning in wide configuration spaces