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: đ€.
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TL;DR: A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.).
Abstract: In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humansâ everyday life, âlivingâ and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that todayâs, and especially tomorrowâs, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (âflierâ). Particular problems (walking, jumping, etc.) are then considered as different contact tasks â interaction between the flier and various objects (being either single bodies or separate dynamic systems).
60Â citations
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05 Mar 2012TL;DR: Results suggest that experiences of physical warmth and handholding increase feelings of friendship and trust toward the robot, however, the discrepancy between the expectation of an actual human touch and the mechanical appearance of a robot could result in negative effects.
Abstract: This study investigates whether the temperature of a robot's hand can affect perceptions of the robot as a companion. Our research empirically analyzes the responses of 39 individuals randomly assigned to one of three conditions: (1) holding a warm robot hand or (2) holding a cold robot hand or (3) not holding a robot hand. The effects of this simulated âhuman touchâ on HRI were examined in the context of viewing a horror film clip. Results suggest that experiences of physical warmth and handholding increase feelings of friendship and trust toward the robot. However, the discrepancy between the expectation of an actual human touch and the mechanical appearance of a robot could result in negative effects.
60Â citations
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TL;DR: An adaptive visual gesture recognition method for human-robot interaction using a knowledge-based software platform that is capable of recognizing users, static gestures comprised of the face and hand poses, and dynamic gestures of face in motion.
60Â citations
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01 May 2018TL;DR: This paper discusses the main issues that arise when working with the HC-SR04 ultrasound rangefinder based on the STM32VLDISCOVERY evaluation board and the characteristics of similar modules for comparison are given.
Abstract: Ultrasonic sensors allow us to equip robots with a means of perceiving surrounding objects, an alternative to technical vision. Humanoid robots, like robots of other types, are, first, equipped with sensory systems similar to the senses of a human. However, this approach is not enough. All possible types and kinds of sensors should be used, including those that are similar to those of other animals and creations (in particular, echolocation in dolphins and bats), as well as sensors that have no analogues in the wild. This paper discusses the main issues that arise when working with the HC-SR04 ultrasound rangefinder based on the STM32VLDISCOVERY evaluation board. The characteristics of similar modules for comparison are given. A subroutine for working with the sensor is given.
60Â citations
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18 Apr 2005TL;DR: This paper proposes a new method using the DCZMP for the modification control of CoM position with balancing control and implements an impedance controller with the manipulation and walking velocity controller for controlling pushing force.
Abstract: This paper discusses pushing a heavy object by a humanoid robot. We modify the whole body motion considering the hand reflecting forces for the walking pattern of a humanoid robot. By assuming that linear and angular momentum of a humanoid robot are calculated, we define the projection of the Center of the Mass(CoM) asâ Dynamically Complemental Zero Moment Point(DCZMP)â, when external forces act to the end-effectors. We propose a new method using the DCZMP for the modification control of CoM position with balancing control. The robot can keep the dynamical balance considering the DCZMP and the walking velocity in both single and double support phase. In addition, for controlling pushing force, we implement an impedance controller with the manipulation and walking velocity controller. The effectiveness of the proposed method is confirmed by simulations and experiments.
60Â citations