Showing papers on "Humanoid robot published in 2003"

Emotion and sociable humanoid robots

Abstract: This paper focuses on the role of emotion and expressive behavior in regulating social interaction between humans and expressive anthropomorphic robots, either in communicative or teaching scenarios. We present the scientific basis underlying our humanoid robot's emotion models and expressive behavior, and then show how these scientific viewpoints have been adapted to the current implementation. Our robot is also able to recognize affective intent through tone of voice, the implementation of which is inspired by the scientific findings of the developmental psycholinguistics community. We first evaluate the robot's expressive displays in isolation. Next, we evaluate the robot's overall emotive behavior (i.e. the coordination of the affective recognition system, the emotion and motivation systems, and the expression system) as it socially engages nave human subjects face-to-face.

Matching robot appearance and behavior to tasks to improve human-robot cooperation

Abstract: A robot's appearance and behavior provide cues to the robot's abilities and propensities. We hypothesize that an appropriate match between a robot's social cues and its task improve the people's acceptance of and cooperation with the robot. In an experiment, people systematically preferred robots for jobs when the robot's humanlikeness matched the sociability required in those jobs. In two other experiments, people complied more with a robot whose demeanor matched the seriousness of the task.

Resolved momentum control: humanoid motion planning based on the linear and angular momentum

Abstract: We introduce a method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values. First, we derive a linear equation, which gives to total momentum of a robot from its physical parameters, the base link speed and the joint speeds. Constraints between the legs and the environment are also considered. The whole body motion is calculated from a given momentum reference by using a pseudo-inverse of the inertia matrix. As examples, we generated the kicking and walking motions and tested on the actual humanoid robot HRP-2. This method, the resolved momentum control, gives us a unified framework to generate various maneuvers of humanoid robots.

Reinforcement Learning for Humanoid Robotics

Abstract: Reinforcement learning offers one of the most general framework to take traditional robotics towards true autonomy and versatility. However, applying reinforcement learning to high dimensional movement systems like humanoid robots remains an unsolved problem. In this paper, we discuss different approaches of reinforcement learning in terms of their applicability in humanoid robotics. Methods can be coarsely classified into three different categories, i.e., greedy methods, ‘vanilla’ policy gradient methods, and natural gradient methods. We discuss that greedy methods are not likely to scale into the domain humanoid robotics as they are problematic when used with function approximation. ‘Vanilla’ policy gradient methods on the other hand have been successfully applied on real-world robots including at least one humanoid robot [3]. We demonstrate that these methods can be significantly improved using the natural policy gradient instead of the regular policy gradient. A derivation of the natural policy gradient is provided, proving that the average policy gradient of Kakade [10] is indeed the true natural gradient. A general algorithm for estimating the natural gradient, the Natural Actor-Critic algorithm, is introduced. This algorithm converges to the nearest local minimum of the cost function with respect to the Fisher information metric under suitable conditions. The algorithm outperforms non-natural policy gradients by far in a cart-pole balancing evaluation, and for learning nonlinear dynamic motor primitives for humanoid robot control. It offers a promising route for the development of reinforcement learning for truly high-dimensionally continuous state-action systems.

Learning about objects through action - initial steps towards artificial cognition

Abstract: Within the field of Neuro Robotics we are driven primarily by the desire to understand how humans and animals live and grow and solve every day's problems. To this aim we adopted a "learn by doing" approach by building artificial systems, e.g. robots that not only look like human beings but also represent a model of some brain process. They should, ideally, behave and interact like human beings (being situated). The main emphasis in robotics has been on systems that act as a reaction to an external stimulus (e.g. tracking, reaching), rather than as a result of an internal drive to explore or "understand" the environment. We think it is now appropriate to try to move from acting, in the sense explained above, to "understanding". As a starting point we addressed the problem of learning about the effects and consequences of self-generated actions. How does the robot learn how to pull an object toward itself or to push it away? How does the robot learn that spherical objects roll while a cube only slides if pushed? Interacting with objects is important because it implicitly explores object representation, event understanding, and can provide definition of object-hood that could not be grasped with a mere passive observation of the world. Further, learning to understand what one's own body can do is an essential step toward learning by imitation. In this view two actions are similar not only if their kinematics and dynamics are similar but rather if the effects on the external world are the same. Along this line of research we discuss some recent experiments performed at the AI-Lab at MIT and at the LIRA-Lab at the University of Genova on COG and Babybot respectively. We show how the humanoid robots can learn how to poke and prod objects to obtain a consistently repeatable effect (e.g. sliding in a given direction), to help visual segmentation, and to interpret a poking action performed by a human manipulator.

Motion Planning for Humanoid Robots.

Abstract: Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies have announced the commercial availability of various humanoid robot prototypes. In order to improve the autonomy and overall functionality of these robots, reliable sensors, safety mechanisms, and general integrated software tools and techniques are needed. We believe that the development of practical motion planning algorithms and obstacle avoidance software for humanoid robots represents an important enabling technology. This paper gives an overview of some of our recent efforts to develop motion planning methods for humanoid robots for application tasks involving navigation, object grasping and manipulation, footstep placement, and dynamically-stable full-body motions. We show experimental results obtained by implementations running within a simulation environment as well as on actual humanoid robot hardware.

Generating whole body motions for a biped humanoid robot from captured human dances

Abstract: The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual biped humanoid robot. Human dance motions are acquired through a motion capturing system. We then extract symbolic representation which is made up of primitive motions: essential postures in arm motions and step primitives in leg motions. A joint angle sequence of the robot is generated according to these primitive motions. Then joint angles are modified to satisfy mechanical constraints of the robot. For balance control, the waist trajectory is moved to acquire dynamics consistency based on desired ZMP. The generated motion is tested on OpenHRP dynamics simulator. In our test, the Japanese folk dance, 'Jongara-bushi', was successfully performed by HRP-1S.

Robonaut: A Robot Designed to Work with Humans in Space

Abstract: The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Survey of Intelligent Control Techniques for Humanoid Robots

Abstract: This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic algorithms) in the area of humanoid robotic systems. It represents an attempt to cover the basic principles and concepts of intelligent control in humanoid robotics, with an outline of a number of recent algorithms used in advanced control of humanoid robots. Overall, this survey covers a broad selection of examples that will serve to demonstrate the advantages and disadvantages of the application of intelligent control techniques.

Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem

Abstract: Humanoid robotics is a new challenging field. To cooperate with human beings, humanoid robots not only have to feature human-like form and structure but, more importantly, they must possess human-like characteristics regarding motion, communication and intelligence. In this paper, we propose an algorithm for solving the inverse kinematics problem associated with the redundant robot arm of the humanoid robot ARMAR. The formulation of the problem is based on the decomposition of the workspace of the arm and on the analytical description of the redundancy of the arm. The solution obtained is characterized by its accuracy and low cost of computation. The algorithm is enhanced in order to generate human-like manipulation motions from object trajectories.

Cooperative works by a human and a humanoid robot

Abstract: We have developed a humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot. The robot can find a target object by the vision, and carry it cooperatively with a human by biped locomotion according to the voice commands by the human. A cooperative control is applied to the arms of the robot while it carries the object, and the walking direction of the robot is controlled by the interactive force and torque through the force/torque sensor on the wrists. The experimental results are presented in the paper.

Development of a flexible tactile sensor system for a humanoid robot

Abstract: The application of robots in the same workspace with humans results, intended or unintended, in direct mechanical interaction. This requires additional sensory abilities of the robots. Besides sensor systems that help the robots to structure their environment, like cameras, radar sensors, etc., a sensor system on the robot's surface is needed that is able to detect mechanical contacts of the robot with its environment. Because of shadings it is not possible to exclude potential collisions in spite of the "structuring" sensor systems. Therefore a tactile sensor system is essential for reasons of security but also as support of the robot control system and additional communication channel. In this paper we propose the requirements to such a system related to its application on an autonomous humanoid robot. According to these postulated requirements a prototypal system was built and integrated in an existing experimental setup which consists of a redundant robot arm with 7 degrees of freedom in a human-similar kinematics. The sensor and its technical specifications as well as the experimental setup are described in the second part of this paper.

A small biped entertainment robot exploring attractive applications

Abstract: SDR-4X is the latest prototype model, which remains a small humanoid type robot and is expanding its capabilities for the adaptability in home environment. Some of the new key technologies have been developed for SDR-4X. The first is newly developed small robot actuators named ISA-4, the second is real-time integrated adaptive motion control. The third is a motion creating software system, which allows us to create SDR's attractive motion performances. The fourth technology is real-time real-world space perception, and the fifth is multi-modal human robot interaction. These five technologies enable to realize a capable robot that can be adopted with human in home environment. In addition, we have explored and developed entertainment applications using these technologies. A cappella chorus performance and a high-tempo dance performance are introduced as the attractive applications.

Online footstep planning for humanoid robots

Abstract: We present an online algorithm for planning sequences of footstep locations that encode goal-directed navigation strategies for humanoid robots. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles in a cluttered terrain are available. Given a discrete set of plausible footstep locations, a forward dynamic programming approach is used to compute a footstep sequence to a specified goal location in the environment. Heuristics designed to minimize the number and complexity of the step motions are used to encode cost functions used for searching a footstep transition graph. If successful, the planner returns an optimal sequence of footstep locations according to the cost functions and plausible sets of footstep locations defined. We show results from an experimental implementation of the algorithm running on the H7 humanoid robot. Using a stereo vision system to sense obstacles in the immediate environment and identify a target goal location, the robot updates the current optimal footstep sequence to the goal from its present location.

A new mental model for humanoid robots for human friendly communication introduction of learning system, mood vector and second order equations of emotion

Abstract: The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. Furthermore, the interaction between humans and robots is one of the essential factors for the Neuro-Robotics. We believed that the Mental Dynamics caused by the stimuli from the internal and external environment is important in expressing emotion. Therefore, we newly developed a human-like head robot WE-4 (Waseda Eye No.4) in 2002. The "Learning System", the "Mood Vector" and the "Second Order Equations of Emotion" were introduced to the mental model of the robot. Moreover, an internal clock was introduced as an autonomic nerve system to express the activation component of the Mood Vector. And, we realized the expression of mental transition caused by the stimuli from the internal and external environment of the robot. In this paper, we describe the new mental model of a human-like head robot WE-4.

Investigating models of social development using a humanoid robot

Abstract: Human social dynamics rely upon the ability to correctly attribute beliefs, goals, and percepts to other people. The set of abilities that allow an individual to infer these hidden mental states based on observed actions and behavior has been called a "theory of mind". Drawing from the models of Baron-Cohen (1995) and Leslie (1994), a novel architecture called embodied theory of mind was developed to link high-level cognitive skills to the low-level perceptual abilities of a humanoid robot. The implemented system determines visual saliency based on inherent object attributes, high-level task constraints, and the attentional states of others. Objects of interest are tracked in real-time to produce motion trajectories which are analyzed by a set of naive physical laws designed to discriminate animate from inanimate movement. Animate objects can be the source of attentional states (detected by finding faces and head orientation) as well as intentional states (determined by motion trajectories between objects). Individual components are evaluated by comparisons to human performance on similar tasks, and the complete system is evaluated in the context of a basic social learning mechanism that allows the robot to mimic observed movements.

Automated derivation of behavior vocabularies for autonomous humanoid motion

Abstract: In this paper we address the problem of automatically deriving vocabularies of motion modules from human motion data, taking advantage of the underlying spatio-temporal structure in motion. We approach this problem with a data-driven methodology for modularizing a motion stream (or time-series of human motion) into a vocabulary of parameterized primitive motion modules and a set of meta-level behaviors characterizing extended combinations of the primitives. Central to this methodology is the discovery of spatio-temporal structure in a motion stream. We estimate this structure by extending an existing nonlinear dimension reduction technique, Isomap, to handle motion data with spatial and temporal dependencies. The motion vocabularies derived by our methodology provide a substrate of autonomous behavior and can be used in a variety of applications. We demonstrate the utility of derived vocabularies for the application of synthesizing new humanoid motion that is structurally similar to the original demonstrated motion.

Autonomous behavior control architecture of entertainment humanoid robot SDR-4X

Abstract: In this paper we describe the autonomous behavior control architecture of SDR-4X, which serves to integrate multi-modal recognition and motion control technologies. We overview the entire software architecture of SDR-4X, which is composed of perception, short and long term memory, behavior control, and motion control parts. Regarding autonomous behavior control, we further focus on issues such as spontaneous behavior generation using a homeostasis regulation mechanism, and a behavior control/selection mechanism with tree-structured situated behavior modules. In the autonomous behavior control architecture, we achieve three basic requirements, which are the concurrent evaluation of the situation of each behavior module, concurrent execution of multiple behavior modules, and preemption (behavior interruption/resume capability). Using the autonomous behavior control architecture described, we demonstrate that SDR-4X can spontaneously and passively interact with a human.

The first human-size humanoid that can fall over safely and stand-up again

Abstract: This paper investigates a method through which human-size humanoid robot can fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling.

Pushing manipulation by humanoid considering two-kinds of ZMPs

Abstract: This paper discusses the pushing manipulation of an object by a humanoid robot. For such a pushing task, we show that there are two kinds of ZMPs, i.e., the conventional "Zero Moment Point (ZMP)" considering all sources of the force/moment acting in the foot supporting area, and the "Generalized Zero Moment Point (GZMP)" which is an generalization of ZMP for a humanoid robot whose hands do not contact with an object. We first obtain the stable region of the GZMP on the floor. Moreover, since the difference between these two ZMPs corresponds to the magnitude of contact force applied by the hands, we propose the pushing manipulation by a humanoid robot by modifying the desired ZMP trajectory for a humanoid. The effectiveness of the proposed method is confirmed by simulation results.

Body movement analysis of human-robot interaction

Abstract: This paper presents a method for analyzing human-robot interaetion by body movements. Future intelligent robots will communicate with humans and perform physical and communicative tasks to participate in daily life. A human-like body will provide an abundance of non-verbal information and enable us to smoothly communicate with the robot. To achieve this, we have developed a humanoid robot that autonomously interacts with humans by speaking and making gestures. It is used as a testbed for studying embodied communication. Our strategy is to analyze human-robot interaction in terms of body movements using a motion capturing system, which allows us to measure the body movements in detail. We have performed experiments to compare the body movements with subjective impressions of the robot. The results reveal the importance of well-coordinated behaviors and suggest a new analytical approach to human-robot interaction.

A humanoid shoulder complex and the humeral pointing kinematics

Abstract: This paper presents a humanoid robotic shoulder complex and the kinematics of humanoid humeral pointing as performed by this complex. The humanoid shoulder complex is composed of two subsystems, a parallel mechanism which serves as the innermost shoulder girdle and a serial mechanism which serves as the outermost spherical glenohumeral joint. These two subsystems are separated by an offset distance and a twist angle. The subsystems operate cooperatively as an offset double pointing system. Humanoid humeral pointing is defined as a configuration in which the displacement of the shoulder girdle and the humerus are coplanar, and in which a ratio between an inclination angle in each subsystem achieves a constant value consistent with human humeral pointing. One redundant degree of freedom remains in the humanoid shoulder girdle, and it can be used to optimize system configuration and operating criteria, such as avoiding the singular cones of the humanoid glenohumeral joint.

Enabling real-time full-body imitation: a natural way of transferring human movement to humanoids

Abstract: We seek intuitive, efficient ways to create and direct human-like behaviors for humanoid robots. Here we present a method to enable humanoid robots to acquire movements by imitation. The robot uses 3D vision to perceive the movements of a human teacher, and then estimates the teacher's body postures using a fast full-body inverse kinematics method that incorporates a kinematic model of the teacher. This solution is then mapped to the robot and reproduced in real-time. The robustness of the method is tested on a 30-degree-of-freedom Sarcos humanoid robot located at ATR using 3D vision data from external cameras and from head-mounted cameras.

Mechanical system of a small biped entertainment robot

Abstract: SDR-4X is the latest prototype model, which is a small humanoid type robot. We reported the outline of this robot last year. In this paper we discuss more about mechanical system, which is important and original for a small biped entertainment robot, which will be used, in home environment. One technology is the design of actuators alignment in the body, which enables dynamic motion performance. Another technology is the actuator technology, which we originally developed, named intelligent servo actuator (ISA). We explain the specification and the important technical points. Next technology is the sensor system, which supports the high performance of the robot, especially the detection of outside objects, ability of stable walking motion and safe interaction with human. The robot is used in normal home environment, so we should strongly consider the falling-over of the robot. We propose the ideas against falling-over which makes the robot as safe as possible.

Telexistence cockpit for humanoid robot control

Abstract: In the fiscal year of 1998, The Ministry of Economy Trade and Industry (METI) of Japan launched a national 5-year project called the Humanoid Robotics Project As a part of this project, we are developing a novel humanoid robot telexistence (tel-existence) system to assist and cooperate with people This paper describes a newly developed telexistence cockpit for humanoid robot control, and shows a technical demonstration to evaluate the developed cockpit and the robot A human operator controls the robot within the remote cockpit as if he or she were inside the robot itself The telexistence cockpit consists of three subsystems: a three-dimensional (3D) audio/visual display subsystem, a telexistence master subsystem, and a communication subsystem between the cockpit and the robot A series of real images are captured by cameras mounted on the robot and presented on the visual display, and the human operator in the cockpit observes them with a sensation of real-time presence He or she can intuitively cont

The first humanoid robot that has the same size as a human and that can lie down and get up

Abstract: This paper presents a humanoid robot that has the same size as a human and that can lie down to the floor and get up from the floor with the robot face upward and downward. We believe that the robot is the first life-size humanoid robot with the capability. The motions are realized by the combination of novel hardware and software. The features of the hardware are a human-like proportion and joints with wide movable ranges including two waist joints. The software segments the motion into the sequence of the contact states between the robot and the floor and assigns an appropriate controller to each transition between the consecutive states. The experimental results are presented.

Method for generating a motion of a human type link system

Abstract: This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.

SIL04: a true walking robot for the comparative study of walking machine techniques

Abstract: This article presents the SIL04 walking robot, a medium-sized quadruped mechanism built for basic research and development as well as for educational purposes. The SIL04 is a compact, modular, robust machine capable of negotiating irregular terrain, surmounting obstacles up to 250 mm tall and carrying about 15 kg in payload at a maximum velocity of about 1.5 m/min, depending on the gait it is using. A brief description of SIL04's leg and body structures, foot mechanisms and robot configuration is provided, and some insights into the hardware, software and simulation tools developed for SIL04 are presented.