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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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Proceedings Article•DOI•
07 Aug 2002
TL;DR: Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented, and the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane are analyzed.
Abstract: For real-time walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of real-time walking control of a 12-DOF biped robot HRP-2L using an input device such as a game pad are also shown.

336 citations

Journal Article•DOI•
TL;DR: 3-D vision on humanoid robots with complex oculomotor systems is often difficult due to the modeling uncertainties, but it is shown that these uncertainties can be accounted for by the proposed approach.
Abstract: Acquisition of new sensorimotor knowledge by imitation is a promising paradigm for robot learning. To be effective, action learning should not be limited to direct replication of movements obtained during training but must also enable the generation of actions in situations a robot has never encountered before. This paper describes a methodology that enables the generalization of the available sensorimotor knowledge. New actions are synthesized by the application of statistical methods, where the goal and other characteristics of an action are utilized as queries to create a suitable control policy, taking into account the current state of the world. Nonlinear dynamic systems are employed as a motor representation. The proposed approach enables the generation of a wide range of policies without requiring an expert to modify the underlying representations to account for different task-specific features and perceptual feedback. The paper also demonstrates that the proposed methodology can be integrated with an active vision system of a humanoid robot. 3-D vision data are used to provide query points for statistical generalization. While 3-D vision on humanoid robots with complex oculomotor systems is often difficult due to the modeling uncertainties, we show that these uncertainties can be accounted for by the proposed approach.

334 citations

Journal Article•DOI•
TL;DR: Questionnaire data support these behavioral findings and show that participants had an overall more positive interaction with the physically present robot, than when it was shown on live video.
Abstract: This paper explores how a robot’s physical presence affects human judgments of the robot as a social partner. For this experiment, participants collaborated on simple book-moving tasks with a humanoid robot that was either physically present or displayed via a live video feed. Multiple tasks individually examined the following aspects of social interaction: greetings, cooperation, trust, and personal space. Participants readily greeted and cooperated with the robot whether present physically or in live video display. However, participants were more likely both to fulfill an unusual request and to afford greater personal space to the robot when it was physically present, than when it was shown on live video. The same was true when the live video displayed robot’s gestures were augmented with disambiguating 3-D information. Questionnaire data support these behavioral findings and also show that participants had an overall more positive interaction with the physically present robot.

334 citations

Proceedings Article•DOI•
10 Dec 2002
TL;DR: The ability of the biped locomotion of HRP-2 is improved so that HRp-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over.
Abstract: This paper presents a prototype humanoid robotics platform developed for HRP-2. HRP-2 is a new humanoid robotics platform, which we have been developing in phase two of HRP HRP is a humanoid robotics project, which has been launched by Ministry of Economy, Trade and Industry (METI) of Japan from 1998FY to 2002FY for five years. The ability of the biped locomotion of HRP-2 is improved so that HRP-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over. The ability of whole body motion of HRP-2 is also improved so that HRP-2 can get up by a humanoid robot's own self even tough HRP-2 tips over. In this paper, the mechanisms and specifications of developed prototype humanoid robotics platform, and its electrical system are introduced.

334 citations

Proceedings Article•DOI•
10 Oct 2009
TL;DR: Men were more likely to donate money to the female robot, while women showed little preference, and subjects tended to rate the robot of the opposite sex as more credible, trustworthy, and engaging.
Abstract: Persuasive Robotics is the study of persuasion as it applies to human-robot interaction (HRI). Persuasion can be generally defined as an attempt to change another's beliefs or behavior. The act of influencing others is fundamental to nearly every type of social interaction. Any agent desiring to seamlessly operate in a social manner will need to incorporate this type of core human behavior. As in human interaction, myriad aspects of a humanoid robot's appearance and behavior can significantly alter its persuasiveness - this work will focus on one particular factor: gender. In the current study, run at the Museum of Science in Boston, subjects interacted with a humanoid robot whose gender was varied. After a short interaction and persuasive appeal, subjects responded to a donation request made by the robot, and subsequently completed a post-study questionnaire. Findings showed that men were more likely to donate money to the female robot, while women showed little preference. Subjects also tended to rate the robot of the opposite sex as more credible, trustworthy, and engaging. In the case of trust and engagement the effect was much stronger between male subjects and the female robot. These results demonstrate the importance of considering robot and human gender in the design of HRI.

333 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023253
2022759
2021573
2020647
2019801
2018921