Showing papers in "International Journal of Humanoid Robotics in 2021"
TL;DR: A preliminary conclusion is drawn that substantial “common knowledge/features” can be learned by CNNs from the raw EMG signals across multiple days and multiple subjects, and thus it is believed that a pre-trained CNN model would contribute to higher accuracy as well as the reduction of learning burden.
Abstract: The learning of inter-day representation of electromyographic (EMG) signals across multiple days remains a challenging topic and not fully accommodated yet. This study aims to improve the inter-day...
17 citations
TL;DR: This paper reports the first example of bipedal locomotion by an EHA-driven robot in both position-controlled and torque-controlled approaches and experimentally confirmed that the resolved viscoelasticity control (RVC) was effective to tune a proper gain to stabilize the center-of-mass motion while avoiding joint-level oscillation invoked by the control bandwidth limitation.
Abstract: Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an ...
8 citations
TL;DR: A novel framework called rough-terrain adaption framework (RTAF) is presented which allows WLR-II to move on both flat terrains and terrains with unmodeled contact dynamics and is suitable for a wheel-legged humanoid robot to manage balance through torque control at joints and regulate force-based interaction on rough terrains.
Abstract: Compared with the traditional hydraulic humanoid robots, the WLR-II, a novel hydraulic wheel-legged robot developed by using hose-less design, can significantly increase the reliability and maneuve...
5 citations
TL;DR: A novel biped-wheeled-wearable machine able to revolutionize the lower body exoskeletons’ world is presented, and a first reduced scale prototype is used to show the feasibility of the proposed solution.
Abstract: This paper presents a novel biped-wheeled-wearable machine, named HANDSHAKE, and obtained by an evolution of two robots presented in other works: one flexible-wheeled leg and one biped-flexible-whe...
4 citations
TL;DR: In this paper, the dynamics of a point-feebleeding bipedal walking robot is studied. But the authors focus on the point-freeness of the robot's motion.
Abstract: Owing to their nonlinear structures and dynamics, bipedal walking robots are commonly used as appropriate case studies for nonlinear modeling and control. In this study, the dynamics of a point-fee...
4 citations
TL;DR: A novel method to avoid excessive muscle fatigue based on electrotactile feedback is proposed and indicates that tactile feedback helps to alleviate muscle fatigue caused by excessive muscle contraction, especially when large strength is needed.
Abstract: Tactile feedback is beneficial to improve the hand prosthesis performance, alleviate phantom pain, reduce muscle fatigue, etc. During the manipulation process, muscle fatigue not only causes discom...
4 citations
TL;DR: An adaptive robust controller is addressed for PNAs in presence of system uncertainties without knowledge of its bounds in prior and results show that the output force of the enhanced PNA is four times greater than the actuator without enhanced structures, which affords to theoretical estimation.
Abstract: Inspired by nature, soft-bodied pneumatic network actuators (PNAs) composed of compliant materials have been successfully applied in the fields of industry and daily life because of large-amplitude...
3 citations
TL;DR: The proposed algorithm for the computation of the centroidal momentum matrix and its time derivative is applied to the postural balance of a humanoid robot using whole body control with quadratic programming.
Abstract: In this paper, we introduce an O(N) algorithm for the computation of the centroidal momentum matrix (CMM) and its time derivative using spatial algebra and expressed with Lie algebra operators. The...
3 citations
TL;DR: Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.
Abstract: There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts...
3 citations
TL;DR: Real experiments with a 3-degree of freedom robotic manipulator guided by the human operator have been conducted to draw a diamond shape on a panel to demonstrate the effectiveness of the proposed cooperative control strategy.
Abstract: A cooperative control of a manipulator and a human operator has been proposed for an efficient direct teaching operation in this research. The main goal is making the operator be convenient and rel...
2 citations
TL;DR: The MISE features with the SVM method, proposed in this paper, provide a novel idea for the recognition of surface texture based on tactile perception.
Abstract: Discrimination of surface textures using tactile sensors has attracted increasing attention. Intelligent robotics with the ability to recognize and discriminate the surface textures of grasped obje...
TL;DR: This paper shows the convenience of the proposed formalism using examples from classical control problems for different types of robotic platforms such as manipulators, humanoid bipeds, and quadrupeds.
Abstract: This paper proposes a Domain Specific Language to describe in a synthetic and comprehensive way, complex control problems for robotic systems. The proposed language, named Math of Tasks, abstracts ...
TL;DR: Experimental results manifest that the proposed method is a powerful tool for multilevel thresholding and the obtained results outperform the DE algorithm and other methods.
Abstract: Image segmentation is a prime operation to understand the content of images. Multilevel thresholding is applied in image segmentation because of its speed and accuracy. In this paper, a novel multi...
TL;DR: A new grasping approach based on the basic compositions of objects that shows that learned grasp score using simplified constraints is more robust to gripper pose uncertainty than without simplified constraint.
Abstract: For robots in an unstructured work environment, grasping unknown objects that have neither model data nor RGB data is very important. The key to robotic autonomous grasping is not only in the judgm...
TL;DR: A novel algorithm called EM+DE is introduced which overcomes these shortages and can segment images better than EM and DE algorithms and outperforms the EM andDE as well as EM+ other natural-inspired algorithms in terms of segmentation criteria.
Abstract: Multilevel image thresholding is an essential step in the image segmentation process. Expectation Maximization (EM) is a powerful technique to find thresholds but is sensitive to the initial points...
TL;DR: The sensorless force/position control problem is investigated for a general class of dynamic contact systems with both motion sensor noise and unknown kinetic friction by designing a force observer-based controller using a linear matrix inequality (LMI) method.
Abstract: In this paper, the sensorless force/position control problem is investigated for a general class of dynamic contact systems with both motion sensor noise and unknown kinetic friction by designing a...