Showing papers on "Humanoid robot published in 1996"
22 Apr 1996
TL;DR: An anthropomorphic dynamic biped walking robot adapting to the humans' living floor with unknown shape and an adaptive walking control system to adapt to the path surfaces with unknown shapes by utilising the information of landing surface obtained by the foot system.
Abstract: In this paper, the authors introduce an anthropomorphic dynamic biped walking robot adapting to the humans' living floor. The robot has two systems: 1) a special foot system to obtain the position relative to a landing surface and the gradient of the surface during its dynamic walking; 2) an adaptive walking control system to adapt to the path surfaces with unknown shapes by utilising the information of landing surface, obtained by the foot system. Two units of the foot system WAF-3 have been developed: a biped walking robot WL-12RVII that has the foot system and the adaptive walking control system installed inside it. A walking experiment with the WL-12RVII was performed. As a result, dynamic biped walking adapting to humans' living floor with unknown shape was realised. The maximum walking speed was 1.28 s/step with a 0.3 m step length, and the adaptable deviation range was from -16 to 16 mm/step in the vertical direction, and from -3 to +3/spl deg/ in the tilt angle.
104 citations
01 Jan 1996
TL;DR: A set of biologically inspired postural primitives are used to create the arm motion of the humanoid robot Cog, allowing the arm to interact safely with both objects and people.
Abstract: This paper describes the implementation of reflex action for the arm of the humanoid robot Cog [5] A set of biologically inspired postural primitives are used to create the arm motion The primitives are combined in different ways to achieve reaching with grasping and withdrawal reflexes, allowing the arm to interact safely with both objects and people This paper describes the reflexes, the biological inspiration for the control, and includes data collected from the robot
71 citations
14 Oct 1996
TL;DR: This paper applies the genetic algorithm to off-line trajectory generation of biped locomotion robot through energy optimization and aims to generate more natural motion by considering the dynamic effect.
Abstract: The purpose of this research is to study the natural motion of a biped locomotion robot walking like a human in various environments. In this paper, we report about the natural motion trajectory generation of biped locomotion robot. We apply the genetic algorithm to off-line trajectory generation of biped locomotion robot through energy optimization and aim to generate more natural motion by considering the dynamic effect. Furthermore, we formulate the trajectory generation problem as a minimizing problem of energy so as to generate natural motion. To apply this calculated trajectory to a practical robot, we build a biped locomotion robot in trial, which has 13 joints and made of aluminum materials. Finally, we confirm that the calculated natural motion trajectory can be applied to practical biped locomotion.
48 citations
04 Nov 1996
TL;DR: This work reports on extending the behavior-based approach to building a human behavior level humanoid robot to address the challenges of interaction between humans and robots.
Abstract: Building humanoid robots that can interact with people in the same way as people interact with people provides a new set of challenges for robotics and artificial intelligence. We report here on extending the behavior-based approach to building a human behavior level humanoid robot.
39 citations
01 Jan 1996
TL;DR: The authors implemented a system which performs a fundamental visuomotor coordination task on the humanoid robot Cog, which requires systems for learning to saccade to visual targets, generating smooth arm trajectories, locating the arm in the visual field, and learning the map between gaze direction and correct pointing configuration of the arm.
Abstract: The authors implemented a system which performs a fundamental visuomotor coordination task on the humanoid robot Cog Cog's task was to saccade its pair of two degree-of-freedom eyes to foveate on a target, and then to maneuver its six degree-of-freedom compliant arm to point at that target This task requires systems for learning to saccade to visual targets, generating smooth arm trajectories, locating the arm in the visual field, and learning the map between gaze direction and correct pointing configuration of the arm All learning was self-supervised solely by visual feedback The task was accomplished by many parallel processes running on a seven processor, extensible architecture, MIMD computer
37 citations
04 Nov 1996
TL;DR: This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision.
Abstract: We present a 35 DOF full-body humanoid is designed to be a testbed to integrate research tools for humanoid full-body behaviors. Each limb has 6 DOF. The neck has 3 DOF. Each hand has 4 DOF. The key idea of the system architecture is the remote-brained approach. This paper describes the design concept and the details of the system and introduces experiments to stand up using table for support and to perform action selection in reaching and grasping an object based on vision.
31 citations
TL;DR: The feasibility of matching human performance is considered, and it is concluded that the necessary power and energy requirements can be fitted within the mass and volume of the human body.
Abstract: This paper investigates the feasibility of constructing a humanoid robot using existing technology. Firstly, the adoption of the humanoid form is justified. The structure, strength and power capabilities of a human are analysed in engineering terms, and taken to represent the requirements specification for a humanoid robot. Technological alternatives to the biological components are reviewed and compared to this specification. The feasibility of matching human performance is considered, and it is concluded that the necessary power and energy requirements can be fitted within the mass and volume of the human body.
22 citations
TL;DR: The remote-brained robot approach is introduced and an ongoing humanoid project based on it is ongoing and aims to combine a large-scale brain and a limber body in the humanoid system.
Abstract: Across the ages, one dream of intelligent robotics has been humanoid robots. To realize a real humanoid requires not only theoretical issues but also usable technologies to install functional elements into an integrated real body. One of the big problems in the real integration of a humanoid is how to combine a large-scale brain and a limber body in the humanoid system. A methodology to approach to this problem is the 'remote-brained robot' approach. This paper introduces the remote-brained robot approach and an ongoing humanoid project based on it.
20 citations
TL;DR: Though much research is still necessary before a personal robot with anthropomorphic features becomes a full reality, accessible and appealing to the general user, present technology is able to offload some of the challenges faced by such a system.
Abstract: Though much research is still necessary before a personal robot with anthropomorphic features becomes a full reality, accessible and appealing to the general user, present technology is able to off...
17 citations
TL;DR: The authors are engaged in studies of biped walking robots from the following two viewpoints: a viewpoint as a human science and a viewpoint towards the development of humanoid rob...
Abstract: The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid rob...
11 citations
TL;DR: From the experimental result, the realizability of the master-slave-type humanoid robot is confirmed and the developed master- slave biped robot system is reported on.
Abstract: In this paper, we point out the importance of developing a master-slave type humanoid robot. Then, for the first stage, we show a concept of a master-slave biped robot and report on the developed master-slave biped robot system. Furthermore, we show the experimental results of an example of master-slave locomotion. Then, from the experimental result, we try to confirm the realizability of the master-slave-type humanoid robot.
TL;DR: A new design concept for human-friendly robotic manipulators, which is called 'the third-arm robot (TTAR), is proposed and the necessary mechanisms for the future of such a robot-in-daily-life are discussed.
Abstract: When we think of robots that in our daily life, hand and eye systems are the key components for the adaptation mechanism to the environment. This paper intends to show research work for humanoid robotic arms. A new design concept for human-friendly robotic manipulators, which we call 'the third-arm robot (TTAR)', is proposed and the necessary mechanisms for the future of such a robot-in-daily-life are discussed.
05 Aug 1996
TL;DR: A fuzzy system and neural network-based scheme is proposed to adjust the contact forces between the fingertips and the nut, to control the hand further, allowing it to screw like human hands.
Abstract: A lot of research have been carried out to improve the performance of multifingered dexterous robot hands, but research on how to allow such dexterous hands to realize human-like performances has not yet been introduced. In this paper, a fuzzy system and neural network-based scheme is proposed to adjust the contact forces between the fingertips and the nut, to control the hand further, allowing it to screw like human hands. The neural network is used as the preprocessor of the fuzzy reference system. Simulations have been performed using a three-fingered hand model to confirm the effectiveness of the proposed scheme.