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: 🤖.

Inverse dynamics control of floating base systems using orthogonal decomposition

Abstract: Model-based control methods can be used to enable fast, dexterous, and compliant motion of robots without sacrificing control accuracy. However, implementing such techniques on floating base robots, e.g., humanoids and legged systems, is non-trivial due to under-actuation, dynamically changing constraints from the environment, and potentially closed loop kinematics. In this paper, we show how to compute the analytically correct inverse dynamics torques for model-based control of sufficiently constrained floating base rigid-body systems, such as humanoid robots with one or two feet in contact with the environment. While our previous inverse dynamics approach relied on an estimation of contact forces to compute an approximate inverse dynamics solution, here we present an analytically correct solution by using an orthogonal decomposition to project the robot dynamics onto a reduced dimensional space, independent of contact forces. We demonstrate the feasibility and robustness of our approach on a simulated floating base bipedal humanoid robot and an actual robot dog locomoting over rough terrain.

Cybernetic human HRP-4C

Abstract: The development of cybernetic human HRP-4C is presented in this paper. The word “Cybernetic Human” is a coinage for us to explain a humanoid robot with a realistic head and a realistic figure of a human being. HRP-4C stands for Humanoid Robotics Platform-4 (Cybernetic human). Standing 158 [cm] tall and weighting 43 [kg] (including batteries), with the joints and dimensions set to average values for young Japanese females, HRP-4C looks very human-like. This paper introduces the design process, mechanical features, and electrical features with specifications of HRP-4C.

Generating whole body motions for a biped humanoid robot from captured human dances

Abstract: The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual biped humanoid robot. Human dance motions are acquired through a motion capturing system. We then extract symbolic representation which is made up of primitive motions: essential postures in arm motions and step primitives in leg motions. A joint angle sequence of the robot is generated according to these primitive motions. Then joint angles are modified to satisfy mechanical constraints of the robot. For balance control, the waist trajectory is moved to acquire dynamics consistency based on desired ZMP. The generated motion is tested on OpenHRP dynamics simulator. In our test, the Japanese folk dance, 'Jongara-bushi', was successfully performed by HRP-1S.

A Communication Robot in a Shopping Mall

Abstract: This paper reports our development of a communication robot for use in a shopping mall to provide shopping information, offer route guidance, and build rapport. In the development, the major difficulties included sensing human behaviors, conversation in a noisy daily environment, and the needs of unexpected miscellaneous knowledge in the conversation. We chose a network-robot system approach, where a single robot's poor sensing capability and knowledge are supplemented by ubiquitous sensors and a human operator. The developed robot system detects a person with floor sensors to initiate interaction, identifies individuals with radio-frequency identification (RFID) tags, gives shopping information while chatting, and provides route guidance with deictic gestures. The robot was partially teleoperated to avoid the difficulty of speech recognition as well as to furnish a new kind of knowledge that only humans can flexibly provide. The information supplied by a human operator was later used to increase the robot's autonomy. For 25 days in a shopping mall, we conducted a field trial and gathered 2642 interactions. A total of 235 participants signed up to use RFID tags and, later, provided questionnaire responses. The questionnaire results are promising in terms of the visitors' perceived acceptability as well as the encouragement of their shopping activities. The results of the teleoperation analysis revealed that the amount of teleoperation gradually decreased, which is also promising.

OpenHRP: Open Architecture Humanoid Robotics Platform.

Abstract: This paper presents the open architecture humanoid robotics platform (OpenHRP) which consists of a simulator and motion control library of humanoid robots. The binary software developed on OpenHRP can be applied to the real counterpart as is, thank to the proposed hardware abstraction and synchronization mechanism. The compatibility between the simulation and corresponding experiment has been successfully examined. OpenHRP is expected to initiate the exploration of humanoid robotics on open architecture software and hardware.