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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06 Jul 2004TL;DR: This work studies locomotion planning of humanoid robots to pass through narrow spaces and generates a 3D local map from visual information and plans the appropriate locomotion based on the map from biped walking with the variable height and the width and from crawling.
Abstract: This work studies locomotion planning of humanoid robots to pass through narrow spaces. Humanoid robots can alter the style of the locomotion while wheeled robots can not. The proposed method generates a 3D local map from visual information and plans the appropriate locomotion based on the map from biped walking with the variable height and the width and from crawling.
59 citations
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28 Sep 2004TL;DR: A biologically motivated control strategy for walking where system angular momentum is explicitly controlled, and principal component analysis reveals three angular momentum primitives that explain 99% of the walking data for sagittal plane body rotations.
Abstract: Towards the goal of developing stable humanoid robots and leg prostheses, we present a biologically motivated control strategy for walking where system angular momentum is explicitly controlled. Using human kinematic gait data, we calculate the distribution of spin angular momentum throughout the human body at slow and self-selected walking speeds. Principal component analysis reveals three angular momentum primitives that explain 99% of the walking data for sagittal plane body rotations. In addition, our analysis shows that the angular momentum primitives are invariant with walking speed. Using these biomechanical results, we simulate human walking during the single support phase using a morphologically realistic humanoid model walking in the sagittal plane. There is minimal predefined specification of the desired gait motion. With only the model's walking speed and stride length as an input, our control system searches for joint reference trajectories that minimize the error between the model's angular momentum distribution and the biologically determined distribution. Resulting model joint kinematics are in qualitative agreement with human gait data, suggesting that exploiting invariant angular momentum primitives In humanoid control may prove critical to achieving biological realism in legged robots and prostheses. The angular momentum primitives framework can substantially simplify the process of gait synthesis and enable the operator of a humanoid robot or powered leg prosthesis to easily change stride length and/or walking speed.
59 citations
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15 Oct 2013TL;DR: This paper presents two studies that explore whether users of different cultures (Arabs and Germans) expect robots to behave similar to their own cultural background and investigates interpersonal distance as a behavioral aspect that varies with the cultural background of the user.
Abstract: In social robotics, the behavior of humanoid robots is intended to be designed in a way that they behave in a human-like manner and serve as natural interaction partners for human users. Several aspects of human behavior such as speech, gestures, eye-gaze as well as the personal and social background of the user need therefore to be considered. In this paper, we investigate interpersonal distance as a behavioral aspect that varies with the cultural background of the user. We present two studies that explore whether users of different cultures (Arabs and Germans) expect robots to behave similar to their own cultural background. The results of the first study reveal that Arabs and Germans have different expectations on the interpersonal distance between themselves and robots in a static setting. In the second study, we use the results of the first study to investigate the users' reactions on robots using the observed interpersonal distances themselves. Although the data of this dynamic setting is not conclusive, it suggests that users prefer robots that show behavior that has been observed for their own cultural background before.
59 citations
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01 Jan 2002
TL;DR: This chapter describes the Robota dolls, a family of small humanoid robots, which can interact with the user in many ways, imitating gestures, learning how to dance and learn how to speak.
Abstract: Imitation, play and dreams are as many means for the child to develop her/his understanding of the world and of its social rules. What if we were to have a robot we could play with? What if we could through play and daily interactions, as we do with our children, be a m odel for it and teach it (what?) to be human-like? This chapter describes the Robota dolls, a family of small humanoid robots, which can interact with the user in many ways, imitating gestures, learning how to dance and learning how to speak.
59 citations
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22 Jun 2009TL;DR: This paper proposes a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on 3D shape representations that is able to robustly detect an object and estimate its pose, flexibly generate grasp hypotheses from the assigned model and perform such hypotheses using visual servoing.
Abstract: Autonomous grasping of household objects is one of the major skills that an intelligent service robot necessarily has to provide in order to interact with the environment. In this paper, we propose a grasping strategy for known objects, comprising an off-line, box-based grasp generation technique on 3D shape representations. The complete system is able to robustly detect an object and estimate its pose, flexibly generate grasp hypotheses from the assigned model and perform such hypotheses using visual servoing. We will present experiments implemented on the humanoid platform ARMAR-III.
59 citations