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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TL;DR: This paper investigates a two-dimensional simulation model of running with nine bodies powered by external moments at all internal joints and determines model parameters and actuator inputs that lead to fully open-loop stable running motions.
Abstract: This paper demonstrates how numerical optimization techniques can efficiently be used to create self-stable running motions for a human-like robot model. Exploitation of self-stability is considered to be a crucial factor for biological running and might be the key for success to make bipedal and humanoid robots run in the future. We investigate a two-dimensional simulation model of running with nine bodies (trunk, thighs, shanks, feet, and arms) powered by external moments at all internal joints. Using efficient optimal control techniques and stability optimization, we were able to determine model parameters and actuator inputs that lead to fully open-loop stable running motions.
119 citations
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01 Sep 2006TL;DR: The results of developing the Robot Anxiety Scale (RAS) for measuring the anxiety that prevents individuals from interaction with robots having functions of communication in daily life are reported.
Abstract: To study the short-term and long-term influence of communication robots in daily life applications, it is necessary to develop psychological scales for measuring the mental states of users of robots and analyzing related social trends. In particular, to explore the more internal factors related to communication robots, it is necessary to focus on anxiety. This paper reports the results of developing the Robot Anxiety Scale (RAS) for measuring the anxiety that prevents individuals from interaction with robots having functions of communication in daily life. In particular, we focus on communication in a human-robot dyad.
119 citations
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01 Jan 2006TL;DR: A system which performs a fundamental visuomotor coordination task on the humanoid robot Cog, which requires systems for learning saccade to visual targets, generating smooth arm trajectories, locating the arm in the visual field, and learning the map between gaze direction and correct pointing configuration of the arm.
Abstract: : The authors implemented a system which performs a fundamental visuomotor coordination task on the humanoid robot Cog. Cog's task was to saccade its pair of two degree-of-freedom eyes to foveate on a target, and then to maneuver its six degree-of-freedom compliant arm to point at that target. This task requires systems for learning saccade to visual targets, generating smooth arm trajectories, locating the arm in the visual field, and learning the map between gaze direction and correct pointing configuration of the arm. All learning was self-supervised solely by visual feedback. The task was accomplished by many parallel processes running on a seven processor, extensible architecture, MIMD computer.
119 citations
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01 Nov 2007TL;DR: CB2, a child robot with biomimetic body for cognitive developmental robotics developed by the Socially-Synergistic Intelligence (Hereafter, Socio-SI) group of JST ERATO Asada Project, is presented.
Abstract: This paper presents a new research platform, CB2, a child robot with biomimetic body for cognitive developmental robotics developed by the Socially-Synergistic Intelligence (Hereafter, Socio-SI) group of JST ERATO Asada Project The Socio-SI group has focused on the design principles of communicative and intelligent machines and human social development through building a humanoid robot that has physical and perceptual structures close to us, that enables safe and close interactions with humans For this purpose, CB2 was designed, especially in order to establish and maintain a long-term social interaction between human and robot The most significant features of CB2 are a whole-body soft skin (silicon surface with many tactile sensors underneath) and flexible joints (51 pneumatic actuators) The fundamental capabilities and the preliminary experiments are shown, and the future work is discussed
119 citations
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05 Mar 2012TL;DR: This paper presents the Robot Behavior Toolkit, an open-source implementation of this framework as a Robot Operating System module and a community-based repository for behavioral specifications, and an evaluation of the effectiveness of the Toolkit in using these specifications to generate social behavior in a human-robot interaction study.
Abstract: Social interaction involves a large number of patterned behaviors that people employ to achieve particular communicative goals. To achieve fluent and effective humanlike communication, robots must seamlessly integrate the necessary social behaviors for a given interaction context. However, very little is known about how robots might be equipped with a collection of such behaviors and how they might employ these behaviors in social interaction. In this paper, we propose a framework that guides the generation of social behavior for humanlike robots by systematically using specifications of social behavior from the social sciences and contextualizing these specifications in an Activity-Theory-based interaction model. We present the Robot Behavior Toolkit, an open-source implementation of this framework as a Robot Operating System (ROS) module and a community-based repository for behavioral specifications, and an evaluation of the effectiveness of the Toolkit in using these specifications to generate social behavior in a human-robot interaction study, focusing particularly on gaze behavior. The results show that specifications from this knowledge base enabled the Toolkit to achieve positive social, cognitive, and task outcomes, such as improved information recall, collaborative work, and perceptions of the robot.
118 citations