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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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System design and flight control of a flying wheel-legged humanoid robot (FWLR)

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2025年

作者： Xu, Bo Li, Xu Feng, Haibo Fu, Yili Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

PurposeThe purpose of this paper is to design a flying wheel-legged humanoid robot (FWLR), endowing the robot with flight capability to improve the obstacle-crossing ability of the wheel-legged humanoid robot. A flight control method using thrust-vector-control (TVC) under constant thrust strength is proposed, which reduces the performance requirements on the response speed of ***/methodology/approachTo endow the robot with flight capability, three sets of thrusters are installed at the robot's back and two arm ends to provide flight lift and the direction of thrust can be changed through the arm swing. According to the robot configuration, this paper established a linearized dynamic model and proposed a constant-strength-thrust-vector-control (CSTVC) framework enabling the robot to achieve flight without thrust intensity *** the proposed modeling method and CSTVC framework, FWLR can inhibit attitude and position drift during takeoff and hovering, and has certain adaptability to takeoff attitude. Finally, FWLR reached a flying height up to 1 m under a 30 kg large self-weight with fixed thrust ***/valueThe design, modeling and flight control method proposed in this paper enables a human-sized wheel-legged humanoid robot to achieve takeoff and hovering for the first time. The movement range of wheel-legged humanoid robot is extended to the air, thereby enhancing its application value in emergency tasks such as disaster search-and-rescue.

关键词： humanoid robot Dynamics modeling Flight control Thrust vector control

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Squat Motion of a humanoid robot Using Three-Particle Model Predictive Control and Whole-Body Control

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SENSORS 2025年第2期25卷 435页

作者： Chen, Hongxiang Zhang, Xiuli Zhao, Mingguo Beijing Jiaotong Univ Sch Mech Elect & Control Engn Beijing 100044 Peoples R China Tsinghua Univ Dept Automat Beijing 100084 Peoples R China

Squatting is a fundamental and crucial movement, often employed as a basic test during robot commissioning, and it plays a significant role in some service industries and in cases when robots perform high-dynamic movements like jumping. Therefore, achieving continuous and precise squatting actions is of great importance for the future development of humanoid robots. In this paper, we apply three-particle model predictive control (TP-MPC) combined with weight-based whole-body control (WBC) to a humanoid robot. In this approach, the arms, legs, and torso are simplified into three particles. TP-MPC is utilized to optimize the rough planning's reference trajectory, while WBC is employed to follow the optimized trajectory. The algorithm is tested through simulations of a humanoid robot performing continuous squatting motions. It demonstrates the ability to achieve more accurate trajectory tracking compared to using WBC alone and also optimizes the issue of excessive knee torque spikes that occur with WBC alone during squatting. Moreover, the algorithm is less computationally intensive, and it is capable of operating at a frequency of 100 Hz.

关键词： humanoid robot whole body control (WBC) model predictive control (MPC) squat motion

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humanoid robot Based Platform to Evaluate the Efficacy of Using Inertial Sensors for Spasticity Assessment in Cerebral Palsy

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IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS 2022年第1期26卷 254-263页

作者： Cooney, Nicholas J. Minhas, Atul S. Macquarie Univ Sch Engn Sydney NSW 2109 Australia Macquarie Univ Dept Cognit Sci Sydney NSW 2109 Australia

Spasticity is commonly present in individuals with cerebral palsy (CP) and manifests itself as shaky movements, muscle tightness and joint stiffness. Accurate and objective measurement of spasticity is investigated using inertial measurement unit (IMU) sensors. However, use of current IMU-based devices is limited to clinics in urban areas where experienced and trained health professionals are available to collect spasticity data. Designing these devices based on the wearable internet of things based architectures with edge computing will expand their use to home, aged care or remote clinics enabling less-experienced health professionals or care givers to collect spasticity data. However, these new designs require rigorous testing during their prototyping stage and collection of supporting data for regulatory approvals. This work demonstrates that a humanoid robot can act as an accurate model of the movements of CP individuals performing pendulum test during their spasticity assessment. Utilizing this model, we present a robust platform to evaluate new designs of IMU-based spasticity measurement devices.

关键词： humanoid robots Reliability Gyroscopes Optical variables measurement Testing Angular velocity Velocity measurement Cerebral Palsy humanoid robot Inertial Measurement Unit Pendulum Test Spasticity Wearable Internet of Things Wearable Activity Tracking Device

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humanoid robot 3-D Motion Simulation for Hardware Realization

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Journal of Donghua University(English Edition) 2007年第6期24卷 713-717,722页

作者：曹曦赵群飞马培荪 Research Institute of Robotics Shanghai Jiaotong University Institute of Image Processing & Pattern Recognition Shanghai Jiaotong University

In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair *** direct and inverse close-form kinematics solution of the biped walking-chair robot is *** gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing *** Moment Point(ZMP)equation is analyzed considering the movement of the *** simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.

关键词： humanoid robot walking chair robot gait design 3D simulation ZMP

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humanoid robot Path Planning and Rerouting Using A-Star Search Algorithm

Humanoid Robot Path Planning and Rerouting Using A-Star Sear...

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IEEE International Conference on Signals and Systems (ICSigSys)

作者： Kusuma, Mario Riyanto Machbub, Carmadi Bandung Inst Technol Sch Elect Engn & Informat Bandung Indonesia

ISBN: (纸本)9781728121772

A humanoid robot as a home assistant which operates in an indoor environment needs to be equipped with the ability to move autonomously. The robot needs to fulfill each command which is given by the user to get the object in a specific location. To achieve this mission, the robot needs intermediate points called waypoints to move from its current coordinate to the next coordinate until the robot reaches the goal position. In this research, based on the current robot's and the targeted object coordinates, the A-star algorithm was being used to find the shortest path. The goal in this research is the robot may approach the targeted object and reroute if the robot missed the target or moving away from its waypoints. The A-star algorithm can be successfully applied in this system. With the addition of a rerouting feature, the robot was able to find a new route if the robot suddenly moved by the user or if the robot accidentally walked outside the waypoints.

关键词： navigation path planning A-star humanoid robot rerouting

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IMPLEMENTATION OF COGNITIVE CONTROL FOR A humanoid robot

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INTERNATIONAL JOURNAL OF humanoid robotICS 2008年第4期5卷 547-586页

作者： Kawamura, Kazuhiko Gordon, Stephen M. Ratanaswasd, Palis Erdemir, Erdem Hall, Joseph F. Vanderbilt Univ Ctr Intelligent Syst Nashville TN 37235 USA

Engineers have long employed control systems utilizing models and feedback loops to control real-world systems. Limitations of model-based control led to a generation of intelligent control techniques such as adaptive and fuzzy control. The human brain, on the other hand, is known to process a variety of inputs in parallel, and shift between different levels of cognitive activities while ignoring distractions to focus on the task in hand. This process, known as cognitive control in psychology, is unique to humans and a handful of animals. We are interested in implementing such cognitive control functionalities for our humanoid robot ISAC. This paper outlines the features of multiagent-based cognitive architecture for a humanoid robot and the progress made toward the realization of cognitive control functionalities using attention, working memory and internal rehearsal. Several experiments have been conducted to show that the implementation of an integrated cognitive robot architecture is feasible.

关键词： humanoid robot cognitive architecture cognitive control working memory episodic memory task switching internal rehearsal

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humanoid robot UPPER LIMB CONTROL USING MICROSOFT KINECT

HUMANOID ROBOT UPPER LIMB CONTROL USING MICROSOFT KINECT

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International Conference on robotics, Automation and Sciences (ICORAS)

作者： Gobee, Suresh Muller, Martin Durairajah, Vickneswari Kassoo, Raheel Asia Pacific Univ Technol & Innovat FCET Mechatron APU Kuala Lumpur Malaysia Mawea Ind Sdn Bhd Kuala Lumpur Malaysia

ISBN: (纸本)9781538619087

This research describes novel approaches of controlling a humanoid robot's upper limbs by implementing a mimicry system. In the robotics arena, keyboard, joysticks and controllers are expended as the principal admix, for transmission data and instructions to the various types of robots accessible. These measures are time consuming and tend to be multifaceted. The use of visual stimuli is considered as one of the utmost solution to this problem. The system will be used to control a humanoid robot's upper limb. The humanoid robot's upper limbs were connected to a Arduino microcontroller and driven by standard servos. The Mimicry system encompassed a Microsoft Kinect as a visual sensor to capture all the user's upper limb movements. which were processed to map the robot's upper limbs. The system achieved a mapping accuracy of 90% was attained during the testing phase under optimum conditions.

关键词： Micmicry Microsoft kinect humanoid robot

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humanoid robot Gait Imitation 53

Humanoid Robot Gait Imitation

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SICE Annual Conference (SICE)

作者： Hwang, Kao-Shing Lin, Jin-Ling Huang, Tsung-Chuan Hsu, Hsin-Jung Natl Sun Yat Sen Univ Dept Elect Engn Kaohsiung Taiwan Shih Hsin Univ Dept Informat Management Taipei Taiwan Natl Chung Cheng Univ Dept Elect Engn Chiayi Taiwan

ISBN: (纸本)9784907764456

This research proposed a learning model for stably walking of humanoid robots by imitation of human gaits. First, use Kinect to capture the skeleton information of human walking. Then extract key postures of a walking cycle from these abundant joints information, captured by Kinect. Q-Learning was used to learn stable walking efficiently, in order to conquer the lack of ankles information from these captured joints information and the walking differences between human and robots. This approach was implemented to both a simulated robot model and an actual humanoid robot. The results from the simulations show that the humanoid robots can efficient and stable walking by the imitation of human gaits.

关键词： Gait imitation humanoid robot Key postures Kinect Q-Learning

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Plane extraction for navigation of humanoid robot

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Journal of Central South University 2011年第3期18卷 627-632页

作者：张彤肖南峰 School of Computer Science and Engineering South China University of Technology Computer Department Guangdong Police Officers College

In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used： pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot＇s navigation.

关键词： humanoid robot navigation line segments splitting region growing plane extraction depth image

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