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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10 May 1999TL;DR: This work presents a study of the human/humanoid locomotion system and a method for adaptation of thehuman motion capture data (HMCD) for driving a humanoid robot using the previously defined concept of the zero moment point (ZMP).
Abstract: This work presents a study of the human/humanoid locomotion system and a method for adaptation of the human motion capture data (HMCD) for driving a humanoid robot. The analysis uses the previously defined concept of the zero moment point (ZMP) which provides a basis for the adaptation of the HMCD. An appropriate model of the robot foot, in agreement with the HMCD, is proposed. This model is used to plan a desired ZMP trajectory. A scheme for approximately matching the actual ZMP trajectory to the desired ZMP trajectory, through periodic joint motion correction at selected joints, is discussed. A method for resolving the ground reaction forces at the foot is also proposed.
253Â citations
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12 May 2009TL;DR: The development of a new compact soft actuation unit intended to be used in multi degree of freedom and small scale robotic systems such as the child humanoid robot âiCubâ is presented.
Abstract: This paper presents the development of a new compact soft actuation unit intended to be used in multi degree of freedom and small scale robotic systems such as the child humanoid robot âiCubâ [1]. Compared to the other existing series elastic linear or rotary implementations the proposed design shows high integration density and wider passive deflection. The miniaturization of the newly developed high performance unit was achieved with a use of a new rotary spring module based on a novel arrangement of linear springs.
252Â citations
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15 Aug 2008TL;DR: This study explores how a robotpsilas physical or virtual presence affects unconscious human perception of the robot as a social partner by collaborating on simple book-moving tasks with either a physically present humanoid robot or a video-displayed robot.
Abstract: This study explores how a robotpsilas physical or virtual presence affects unconscious human perception of the robot as a social partner. Subjects collaborated on simple book-moving tasks with either a physically present humanoid robot or a video-displayed robot. Each task examined a single aspect of interaction: greetings, cooperation, trust, and personal space. Subjects readily greeted and cooperated with the robot in both conditions. However, subjects were more likely to fulfill an unusual instruction and to afford greater personal space to the robot in the physical condition than in the video-displayed condition. The same tendencies occurred when the virtual robot was supplemented by disambiguating 3-D information.
250Â citations
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TL;DR: In this article, a robot called Robovie can generate human-like behaviors by using humanlike actuators and vision and audio sensors, and the basic structure of the architecture is a network of situated modules consisting of elemental behaviors to entrain humans and a behavior for communicating with humans.
Abstract: The authors have developed a robot called âRobovieâ that has unique mechanisms designed for communication with humans. Robovie can generate humanâlike behaviors by using humanâlike actuators and vision and audio sensors. Software is a key element in the systems development. Two important ideas in humanârobot communication through research from the viewpoint of cognitive science have been obtained â one is importance of physical expressions using the body and the other is the effectiveness of the robotâs autonomy in the robotâs utterance recognition by humans. Based on these psychological experiments, a new architecture that generates episode chains in interactions with humans is developed. The basic structure of the architecture is a network of situated modules. Each module consists of elemental behaviors to entrain humans and a behavior for communicating with humans.
250Â citations
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TL;DR: This system allows a robot to learn a simple goal-directed gesture and correctly reproduce it despite changes in the initial conditions and perturbations in the environment and provides a solution to the inverse kinematics problem when dealing with a redundant manipulator.
Abstract: We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture and correctly reproduce it despite changes in the initial conditions and perturbations in the environment. It combines a dynamical system control approach with tools of statistical learning theory and provides a solution to the inverse kinematics problem when dealing with a redundant manipulator. The system is validated on two experiments involving a humanoid robot: putting an object into a box and reaching for and grasping an object.
250Â citations