Topic
Humanoid robot
About: Humanoid robot is a research topic. Over the lifetime, 14387 publications have been published within this topic receiving 243674 citations. The topic is also known as: 🤖.
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10 Dec 2002
TL;DR: The design of an integrated system for humanoid robotics that consists of three key components, 3D vision, motion planning and bipedal control is described, to achieve concurrency as well as small latency.
Abstract: This paper describes the design of an integrated system for humanoid robotics that consists of three key components, 3D vision, motion planning and bipedal control. Layered system design is adopted to achieve concurrency as well as small latency. Implementation using our humanoid type robot H7 and experiments with this architecture are described. The H7 is expected to be a common test-bed in experiments and discussion for various aspects of intelligent humanoid robotics.
77 citations
05 Dec 2005
TL;DR: A first cognitive architecture for the authors' humanoid robot is presented, which is a mixture of a hierarchical three-layered form on the one hand and a composition of behaviour-specific modules on the other hand.
Abstract: Future life pictures humans having intelligent humanoid robotic systems taking part in their everyday life Thus researchers strive to supply robots with an adequate artificial intelligence in order to achieve a natural and intuitive interaction between human being and robotic system Within the German Humanoid Project we focus on learning and cooperating multimodal robotic systems In this paper we present a first cognitive architecture for our humanoid robot: The architecture is a mixture of a hierarchical three-layered form on the one hand and a composition of behaviour-specific modules on the other hand Perception, learning, planning of actions, motor control, and human-like communication play an important role in the robotic system and are embedded step by step in our architecture
77 citations
TL;DR: This article presents a novel observer-based control system to achieve reactive motion generation for dynamic biped walking that combines a feedback controller with an online generated feet pattern to assure a stable gait.
77 citations
10 Apr 2007
TL;DR: A flexible control law is proposed which offers object-level impedances for two-handed manipulation and its performance is demonstrated experimentally by unscrewing a can and motion of a grasped box.
Abstract: The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning algorithms are needed to accomplish tasks. For intuitive operation and hence short development times of applications high-level control interfaces are needed. Furthermore, for many tasks it is desirable to define an impedance behavior in task space. In this paper a flexible control law is proposed which offers object-level impedances for two-handed manipulation. The controller structure is based on the well-known compliance control law. The main contributions of this work are the way how to combine several potential functions for two-handed manipulation and the experimental validation of hand-arm coordination. The controller is implemented on DLR's humanoid manipulator Justin and its performance is demonstrated experimentally by unscrewing a can and motion of a grasped box.
77 citations
24 Apr 2000
TL;DR: This work exploits the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots and shows how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of an humanoid robot.
Abstract: The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of the humanoid robots' kinematics. We exploit the similarity between the movements of a humanoid robot and human movements to generate joint trajectories for such robots. In particular we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory of a humanoid robot. We utilize B-spline wavelets to efficiently represent the joint trajectories and to automatically select the density of the basis functions on the time axis. We applied our method to the task of teaching a humanoid robot how to make a dance movement.
77 citations