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humanoid robot as an educational assistant - insights of speech recognition for online and offline mode of teaching

BEHAVIOUR & INFORMATION TECHNOLOGY 2025年第5期44卷 975-992页

作者： Pande, Akshara Mishra, Deepti Norwegian Univ Sci & Technol Dept Comp Sci IDI Educ Technol Lab Gjovik Norway Norwegian Univ Sci & Technol Educ Technol Lab Intelligent Syst & Analyt Res Grp Departmentof Comp Sci IDI Teknologivegen 22 Gjovik Norway

Technology has the potential to enhance the effectiveness of the teaching and learning process. With the integration of technological resources, educators can create dynamic and interactive learning environments that offer diverse learning methods. With the help of these resources, students may be able to understand any topic deeply. Incorporating humanoid robots provides a valuable approach that combines the benefits of technology with the personal touch of human interaction. The role of speech is important in education;students might face challenges due to accent and auditory problems. The display of the text on the robot's screen can be beneficial for students to understand the speech better. In the present study, our objective is to integrate speech transcription with the humanoid robot Pepper and to explore its performance as an educational assistant in online and offline modes of teaching. The findings of this study suggest that Pepper's speech recognition system is a suitable candidate for both modes of teaching, regardless of the participant's gender. We expect that integrating humanoid robots into education may lead to more adaptive and efficient teaching and learning, resulting in improved learning outcomes and a richer educational experience.

关键词： Pepper humanoid robot speech-to-text education online offline

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New Fixed-Time Observer-Based Model-Free Fixed-Time Sliding Mode of Joint Angle Commanded NAO humanoid robot

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2025年第1期33卷 304-315页

作者： Farhat, Mahmoud Kali, Yassine Saad, Maarouf Rahman, Mohammad Habibur Lopez-Herrejon, Roberto E. Ecole Technol Super Montreal PQ H3C 1K3 Canada Univ Quebecen Abitibi Temiscamingue Sch Engn Rouyn Noranda PQ J9X 5E4 Canada Univ Wisconsin Dept Mech Engn Milwaukee WI 53201 USA

In this article, we present a new fixed-time observer (FTO) with time delay estimation (TDE)-based model-free fixed-time sliding mode for the problem of robust walking of the NAO robot. The proposed technique ensures convergence in fixed time, regardless of initial conditions, thereby enhancing both convergence speed and robustness. This method allows for precise tracking of the joint angles' positions without depending on the robot's dynamic models while reducing the chattering via a modified exponential reaching law (MERL). To address the complexities of stabilizing the walking dynamics of the NAO robot, which include highly nonlinear dynamics and limited computational process, the proposed strategy utilizes the TDE technique for system model estimation. To mitigate estimation errors, a novel observer with guaranteed fixed-time stability is proposed. This last helps to enhance the tracking performance. Using the Lyapunov theory and experimental validation, within the proposed composite control method, the proposed nonsingular terminal sliding surface's fixed-time stability along with the system state's stability is verified. Significantly improved stability and accuracy in the robot's joint movements are demonstrated through experimental results, validating the efficacy of the tracking trajectory for robotic systems such as the NAO humanoid robot.

关键词： Fixed-time convergence humanoid robot NAO robot stable walking time delay estimation (TDE) uncertainties

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Research on 3D humanoid robot pose estimation based on HRNet-Epipolar and CRF robot model by multiple view

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2025年第2期52卷 287-294页

作者： Wang, Kexin Pei, Yubin Li, Zhengxiao Wang, Xuanyin Zhejiang Univ Dept Mech Engn Hangzhou Peoples R China

Purpose - This paper aims to present an unmarked method including entire two-dimensional (2D) and three-dimensional (3D) methods to recover absolute 3D humanoid robot poses from multiview images. Design/methodology/approach - The method consists of two separate steps: estimating the 2D poses in multiview images and recovering the 3D poses from the multiview 2D heatmaps. The 2D one is conducted by High-Resolution Net with Epipolar (HRNet-Epipolar), and the Conditional Random Fields humanoid robot Pictorial Structure Model (CRF robot Model) is proposed to recover 3D poses. Findings - The performance of the algorithm is validated by experiments developed on data sets captured by four RGB cameras in Qualisys system. It illustrates that the algorithm has higher Mean Per Joint Position Error than Direct Linear Transformation and Recursive Pictorial Structure Model algorithms when estimating 14 joints of the humanoid robot. Originality/value - A new unmarked method is proposed for 3D humanoid robot pose estimation. Experimental results show enhanced absolute accuracy, which holds important theoretical significance and application value for humanoid robot pose estimation and motion performance testing

关键词： humanoid robot Pose estimation Deep learning

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Experiences of a humanoid robot-Led Physical Training Program for Home-Living Older Persons - A Qualitative Pilot Study

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INTERNATIONAL JOURNAL OF SOCIAL robotICS 2025年 1-8页

作者： Andtfolk, Malin Fagerstroem, Lisbeth Eide, Hilde Nyholm, Linda Abo Akad Univ Abo Akad Fakulteten Pedag & Valfardsstudier Fac Educ & Welf Studies Vaasa Finland Univ South Eastern Norway Fac Hlth & Social Sci Dept Nursing Sci South Eastern Norway Norway Univ Stavanger Fac Hlth Sci Dept Caring & Ethics Stavanger Norway

Maintaining good physical condition throughout life might reduce the risk of disease and improve older persons' physical and mental health. Several positive outcomes in the care of home-living older persons have been linked to technological solutions such as humanoid robots. The aim of this study was to develop a humanoid robot-led physical exercise training program for home-living older persons and to explore eleven home-living older persons' experiences of the program. Semi-structured interviews was held with the home-living older persons after their testing the program and transcribed interviews were analyzed by thematic analysis. The home-living older persons experienced the program as easy to follow and that the program might improve their mental well-being and social interactions. To positively influence older persons' physical condition, more person-centered exercises and a more suitable robot should be included. Further development of humanoid robot-led physical exercise training programs is needed to ensure the usability of a similar programs in the context of older persons.

关键词： Older persons Home-living humanoid robot Physical training

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Older adults' user experience with introvert and extravert humanoid robot personalities

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UNIVERSAL ACCESS IN THE INFORMATION SOCIETY 2025年第1期24卷 357-373页

作者： Zedda, Eleonora Manca, Marco Paterno, Fabio Santoro, Carmen Univ Pisa Dept Comp Sci I-56127 Pisa Italy CNR ISTI HIIS Lab I-56127 Pisa Italy

humanoid robots can be an effective tool for the cognitive training of older adults. For this purpose, it is important that their interaction be engaging. In this study, we investigate whether proposing robots exhibiting extraverted or introverted personalities can improve user experience. In particular, we have designed and implemented a set of multi-modal cues for such personality traits, which have been exploited in an application proposing typical exercises for cognitive training through a Pepper robot. We report on a user test with 24 older adults (65 +), which provided interesting and positive feedback regarding how the robot personalities have been exhibited and their impact on the experience of such users.

关键词： humanoid robot Personality Older Adults User experience

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Audiovisual Affective Design of humanoid robot Appearance and Voice Based on Kansei Engineering

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INTERNATIONAL JOURNAL OF SOCIAL robotICS 2025年第1期17卷 15-37页

作者： Li, Mingming Zhang, Jia Guo, Fu Liao, Yanyan Hu, Xiaolei Ham, Jaap Anhui Univ Technol Coll Management Sci & Engn Dept Ind Engn Maanshan Peoples R China Northeastern Univ Sch Business Adm Dept Ind Engn 195Chuangxin Rd Shenyang 110167 Peoples R China Anhui Univ Technol Sch Mech Engn Maanshan Peoples R China Eindhoven Univ Technol Dept Ind Engn & Innovat Sci Res Grp Human Technol Interact Eindhoven Netherlands

humanoid robots, characterized by their anthropomorphic design, have become increasingly common in various service areas. Nevertheless, the majority of current affective designs of humanoid robots primarily concentrate on the physical appearance while overlooking its (audiovisual) integration with voice. In this study, we propose simultaneously designing the appearance and voice of humanoid robots using Kansei Engineering, an effective method for optimizing the affective design of products. We first selected representative humanoid robots with different appearances and voices and constructed kansei space to capture users' affective needs for these robots. Then, we decomposed appearances and parameterized voices to extract design features and orthogonalized these design features to generate prototypes. After that, we conducted an evaluation experiment to acquire users' affective evaluations on the combinations of appearance and voice. Based on the data, relationship models between design features and users' kansei images and holistic preferences were constructed using the back-propagation neural network. Furthermore, optimization design models were formulated and resolved through the genetic algorithm. Also, we conducted a validation experiment, and the results demonstrated that the optimized design schemes look harmonious in appearance, sound warmth in voice, and achieve a high level of audiovisual compatibility. The results suggest that the proposed approach can effectively optimize the audiovisual affective design of humanoid robot appearance and voice. Moreover, it can not only provide methodological support for the affective design of robots and other voice-based smart products but can also help to improve the affective experience quality and facilitate the application of robots in service areas.

关键词： Audiovisual affective design Voice design humanoid robot Kansei Engineering Preference

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A 65-nm humanoid robot System-on-Chip Using Time-Domain 3-D Footstep Planning and Mixed-Signal ZMP Gait Scheduler With Inverse Kinematics

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IEEE JOURNAL OF SOLID-STATE CIRCUITS 2025年第4期60卷 1339-1348页

作者： Cao, Qiankai Chuen Oh, Juin Gu, Jie Northwestern Univ Dept Elect & Comp Engn Evanston IL 60208 USA

This work presents a footstep planning chip for humanoid robot. It integrates a time-domain graph search engine for high-level 3-D footstep planning and a mixed-signal zero moment point (ZMP) gait scheduler with neural inverse kinematics, enabling efficient low-level motion control. The key contributions of this work include a time-domain graph search engine for 3-D footstep planning, featuring 3-D search capabilities, D-center dot replanning for real-time adjustments, redundant path blocking, and efficient result readout. In addition, it introduces an energy-efficient mixed-signal ZMP gait scheduler for maintaining robot balance, along with a time-domain neural-network-based inverse kinematics module for controlling robot joints. This work is demonstrated in situ on a fully assembled robot using the 65-nm system-on-chip (SoC), achieving 2.7 x energy savings for graph search and an 18.4 x improvement in energy efficiency for motion control compared with prior works.

关键词： robots Three-dimensional displays humanoid robots Planning Mobile robots Kinematics Time-domain analysis Aerospace electronics Trajectory Motor drives 3-D footstep planning humanoid robot inverse kinematics mixed-signal system-on-chip (SoC) zero moment point (ZMP)

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Constraint augmented differential dynamic programming for humanoid robot automatic falling recovery

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EXPERT SYSTEMS WITH APPLICATIONS 2025年 278卷

作者： Jin, Mingyue Gao, Junyao Jin, Xiaokun Xie, Leilei Zuo, Weilong Wu, Taiping Liu, Jiongnan Huang, Jiahang Beijing Inst Technol Sch Mech Engn Beijing 100081 Peoples R China Beijing Inst Technol Sch Med Technol Beijing 100081 Peoples R China

The complex mechanical structure and multiple degrees of freedom (DoF) make the humanoid robot system unstable and nonlinear. The humanoid robot may fall accidentally while performing tasks due to these inherent properties. For this reason, research on the automatic falling recovery of humanoid robots is a very useful project. Fall recovery motion planning for humanoid robots is a complex, whole-body, multiple-contact and nonlinear optimization problem. To address this challenge, the constraint augmented differential dynamic programming (CA-DDP) algorithm is proposed in our work to enable the humanoid robot to recover from arbitrary fall posture. Firstly, the collision dynamics constraint based on the Karush-Kuhn-Tucker (KKT) condition is formulated to satisfy the robot's dynamics constraint and absolute static stability requirement of contact points. Then, an improved derivation process is developed to modify the action-value function and its gradient and Hessian matrices during the backward pass of CA-DDP algorithm. Through CA-DDP iterations, the optimal control torque and joint trajectories are obtained with a faster convergence speed. Finally, the effectiveness of the proposed CA-DDP is verified through simulation and real-world experiments on a BHRFCR humanoid robot automatically falling recovery. With various arbitrary initial falling postures and CA-DDP iterations, the optimal solutions enable the BHR-FCR robot to achieve the desired recovery state with over 95% recovery accuracy and computation time under 50 s. Moreover, the BHR-FCR robot successfully achieves state recovery on a flat floor, grass ground and soft cushion in real-world experiments.

关键词： Automatic falling recovery Constraint augmented differential dynamic programming Online trajectory optimization Posture detection humanoid robot

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Initial study of verbal and nonverbal communication training through the collaborative operation of a humanoid robot for individuals with autism spectrum disorder

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ASIAN JOURNAL OF PSYCHIATRY 2025年 106卷 104423-104423页

作者： Watanabe, Tetsuyou Nishida, Kihei Kumazaki, Hirokazu Kanazawa Univ Fac Frontier Engn Kakuma Machi Kanazawa Ishikawa 9201192 Japan Kanazawa Univ Grad Sch Nat Sci & Technol Kakuma Machi Kanazawa Ishikawa 9201192 Japan Nagasaki Univ Sch Med Dept Neuropsychiat 1-7-1 Sakamoto Nagasaki 8528102 Japan

Individuals with autism spectrum disorder (ASD) experience difficulties in both verbal and nonverbal communication. Collaborative work allows them to use and develop their nonverbal communication abilities. Therefore, we developed a collaborative work training program for individuals with ASD. This study aimed to assess the feasibility of the proposed intervention for both verbal and nonverbal communication. A single humanoid robot was operated by two people, with each person operating different parts of the robot: one person moved the right half of the body while the other moved the left. The participants' roles were separated to promote verbal and nonverbal communication. Fourteen individuals (aged 18-27 years) participated in a training experiment that was conducted once a week for a maximum of seven sessions over two months. A comparison of the amount of communication between the first and last training sessions showed that both verbal and nonverbal communication increased (p = 0.044 and p = 0.024, respectively), indicating that the proposed training facilitated both verbal and nonverbal communication. Future studies are needed to establish evidence supporting the generalizability of the acquired skills to daily life activities by considering longitudinal designs.

关键词： Autism spectrum disorder Communication Collaborative work humanoid robot

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Kinematic Analysis and Optimal Design of 2SPS-RR Parallel Wrist in humanoid robot 17th

Kinematic Analysis and Optimal Design of 2SPS-RR Parallel Wr...

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17th International Conference on Intelligent robotics and Applications

作者： Peng, Siyuan Li, Yaming Xu, Peng Li, Bing Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen 518055 Peoples R China

ISBN: (纸本)9789819607709;9789819607716

humanoid robots are a hot research topic in robotics nowadays and show broad application prospects. Among the various components of humanoid robots, the wrist is essential as it enables the completion of complex motions. Compared to the serial configuration, the wrists with parallel configurations show the advantage of compactness and high stiffness. In this paper, the kinematic and optimal design of a robotic wrist with a 2SPS-RR parallel mechanism are performed. Firstly, the position, velocity, and singularity are analyzed and the workspace is presented. Secondly, an optimization model that considers multiple performance indexes is proposed. The function is simple to calculate, which takes into account the effects of the area of the workspace, the expected boundary and the singular trajectory. Then, a global optimization of the mechanism is conducted based on the design parameters, and a set of optimal parameter values is obtained. The results indicate that the desired workspace of the mechanism is distant from the singular trajectory with the optimized parameters, and the coverage of the workspace relative to the desired workspace is considerable. Furthermore, the sensitivity and condition number of the design parameters are analyzed. Finally, the driving force and driving speed of the mechanism are analyzed in conjunction with the optimal parameters, which provides a theoretical reference for the design of the humanoid robot wrist.

关键词： humanoid robot Parallel configurations Global optimization

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