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Towards a unified understanding of basic notions and terms in humanoid robotics

ROBOTICA 2007年第Part1期25卷 87-101页

作者： Vukobratovic, M. Borovac, B. Potkonjak, V. Inst Mihajlo Pupin Belgrade 11000 Serbia Univ Novi Sad Fac Tech Sci Novi Sad 21000 Serbia Univ Belgrade Fac Elect Engn Belgrade 11000 Serbia

The intention of this paper is to contribute towards a unified understanding of the basic notions and terms in the domain of humanoid robotics, having in mind that the same notions are sometimes interpreted in different ways (some interpretations are contradictory, and some even erroneous). Hence, the first part of the paper is devoted to defining some basic notions, walk and gait being among the first. Then, the paper deals with the notion of dynamic balance and stability, particularly the difference between them, since these essentially different notions are often confused and, rarely, regarded as identical. As dynamic balance is directly related to the notion of zero-moment point (ZMP), it was necessary to touch upon some misunderstandings concerning the ZMP. Gait stability is an especially delicate category, as humanoid locomotion systems have certain specific features that are not possessed by other systems. Namely, because of external disturbances, there may appear unpowered (passive) degrees of freedom that cause loss of dynamic balance. Hence, these unpowered degrees of freedom cannot be overlooked in the stability analysis. As the stability of motion of humanoid robots is inseparably linked with control, it was also necessary to pay due attention to this notion. Finally, the paper ends with a discussion of posture and postural stability with all their specificities. The authors hope that this paper will contribute to a clearer understanding of the basic notions of humanoid robotics, especially concerning robots with high dynamic and control performances.

关键词： humanoid robotics dynamic balance stability control gait walk posture

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Recent Trends in humanoid robotics Research: Scientific Background, Applications, and Implications

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ACCOUNTABILITY IN RESEARCH-POLICIES AND QUALITY ASSURANCE 2010年第6期17卷 278-298页

作者： Solis, Jorge Takanishi, Atsuo Waseda Univ Fac Sci & Engn Humanoid Robot Inst Tokyo 1698555 Japan

Even though the market size is still small at this moment, applied fields of robots are gradually spreading from the manufacturing industry to the others as one of the important components to support an aging society. For this purpose, the research on human-robot interaction (HRI) has been an emerging topic of interest for both basic research and customer application. The studies are especially focused on behavioral and cognitive aspects of the interaction and the social contexts surrounding it. As a part of these studies, the term of oroboethicso has been introduced as an approach to discuss the potentialities and the limits of robots in relation to human beings. In this article, we describe the recent research trends on the field of humanoid robotics. Their principal applications and their possible impact are discussed.

关键词： entertainment robotics humanoid robotics medical robotics roboethics

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Further explorations in evolutionary humanoid robotics

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ARTIFICIAL LIFE AND robotics 2008年第1-2期12卷 133-137页

作者： Eaton, Malachy Univ Limerick Coll Sci & Engn Dept Comp Sci & Informat Syst Limerick Ireland

The field of evolutionary humanoid robotics is a branch of evolutionary robotics specifically dealing with the application of evolutionary principles to humanoid robot design. Previous studies demonstrated the possible future potential of this approach by evolving walking behaviors for simulated humanoid robots with up to 20 degrees of freedom. In this paper we examine further the evolutionary process by looking at the changes in diversity over time. We then investigate the effect of the immobilization of an individual joint or joints in the robot. The latter study may be of potential future use in prosthetic design. We also explore the possibility of the evolution of humanoid robots which can cope with different environmental conditions. These include reduced ground friction (ice) and modified gravitation (moon walking). We present initial results on the implementation of our simulated humanoid robots in hardware using the Bioloid robotic platform, using a model of this robot in order to evolve the desired motion patterns, for subsequent transfer to the real robot. We finish the article with a summary and brief discussion of future work.

关键词： Evolutionary computation humanoid robotics

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The Review of Dyslexic humanoid robotics for Reinforcement Learning 20th

The Review of Dyslexic Humanoid Robotics for Reinforcement L...

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20th European Conference on E-Learning (ECEL)

作者： Mcvey, Sarah-May Chew, Esyin Carol, Fiona Cardiff Metropolitan Univ Cardiff Wales

ISBN: (纸本)9781914587191

The research focuses on students with Dyslexia in higher education and the support. Additionally, this will include support for their learning for e-learning or face to face lectures. The problem statement for this research is It has been shown that students with Dyslexia benefit from a support system, could the conceptual design of introducing a humanoid Robot as a support assistant and companion give a personal aspect to the student as well as have an enhanced impact on the student. This could also benefit lecturers who may lack an understanding of Dyslexia and the support it requires. The purpose of this research is to help support students with Dyslexia with their learning using a robot with reinforcement learning techniques. As there are six different types of Dyslexia, research has shown that universities, do not currently have the resources or the support available to help support the students. There is support available however, it is not enough to cater to the six different types of Dyslexia (Zoubrinetzky, Bielle and Valdois, 2014). A robot could be used as a support assistant to help improve the support resources within the university and enable the university to cater to the different types. The key purpose of this paper is to report the review of the conceptual design and preliminary framework with reinforcement learning. The methods and findings of this research will be reviewing current literature surrounding educational robotics and dyslexia, reinforcement learning and e-learning.

关键词： dyslexia humanoid robotics reinforcement learning learning and teaching higher education learning support e-learning

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Toward Deep Space humanoid robotics Inspired by the NASA Space robotics Challenge 14

Toward Deep Space Humanoid Robotics Inspired by the NASA Spa...

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14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Tanaka, Yoshimaru Lee, Hyunhee Wallace, Dylan Jun, Youngbum Oh, Paul Inaba, Masayuki Univ Tokyo Dept Creat Informat Tokyo 1338656 Japan Univ Nevada Dept Mech Engn Las Vegas NV 89154 USA

ISBN: (纸本)9781509030569

This paper presents the initial work toward deep space robotic applications. humanoid robots as astronauts can experience gravity differences, hazardous environmental conditions, extreme latency communications, and lack of energy sources while on deep space missions. Such constraints provide a challenge in the development of software, hardware, and experiments for space humanoid robots. This paper demonstrates the preliminary work for deep space robotics through the two qualification tasks specified by NASA's Space robotics Challenge. The tasks are implemented in both the SRC simulator using IHMC ROS APIs, and with a physical humanoid robot, DR. The main objective is to testify the fundamental vision capability and maneuverability for deep space missions. This paper serves as a reference for future research in the field of deep space robotics.

关键词： humanoid robotics Space robotics Bipedal Locomotion Dexterous Manipulation 3D Perception

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POSTER: IoT and humanoid robotics for Next Generation Motor Rehabilitation Systems 20

POSTER: IoT and Humanoid Robotics for Next Generation Motor ...

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20th Annual International Conference on Distributed Computing in Smart Sensor Systems and the Internet of Things (DCOSS-IoT)

作者： Borgo, Stefano Di Felice, Marco Esposito, Alfonso Seidita, Valeria Spaletta, Giulia Toni, Roberto Zyrianoff, Ivan ISTC CNR Lab Appl Ontol LOA Trento Italy Univ Bologna Dept Comp Sci & Engn Bologna Italy Univ Palermo Dept Engn Palermo Italy CNR ISSMC Faenza Italy Tufts Univ Sch Med TMC Endocrinol Boston MA 02111 USA

ISBN: (纸本)9798350369458;9798350369441

The recent Covid-19 pandemic has highlighted the pressure on healthcare infrastructure, emphasizing the necessity for more tailored and sustainable healthcare systems that exploit the potential of emerging technologies such as robotics and the Internet of Things (IoT). In this paper, we delve into this potential by presenting I-TROPHYTS, an innovative framework designed for the real-time and semi-autonomous supervision of motor rehabilitation activities in indoor settings. I-TROPHYTS introduces a visionary approach that leverages humanoid robotics to mimic the actions of physiotherapists. This robotic system dynamically adjusts motor rehabilitation routines based on real-time performance and vital signs of groups of patients, which are monitored through wearable IoT devices. The paper introduces the I-TROPHYTS framework architecture along with its essential components. Furthermore, it elaborates on the implementation of the IoT monitoring infrastructure through the Bluetooh Mesh technology.

关键词： Internet of Things (IoT) humanoid robotics Rehabilitation Knowledge Modeling Smart Spaces

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An Actuated Spherical Joint for humanoid robotics Applications 9

An Actuated Spherical Joint for Humanoid Robotics Applicatio...

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9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) / IEEE Conference on robotics, Automation and Mechatronics (RAM)

作者： Folgheraiter, Michele Yessirkepov, Sharafatdin Yessaly, Alikhan Nazarbayev Univ Sch Engn & Digital Sci Dept Robot & Mechatron Nur Sultan Kazakhstan

ISBN: (纸本)9781728134581

A newly developed actuated spherical joint is introduced for application in the field of humanoid robotics. The mechanism consists of a parallel structure with four limbs in a 3PSS-1S kinematic configuration. This, allows to perform rotations with respect to any arbitrary axis passing through the center of the joint, effectively implementing a spherical motion. By having the actuation system located on the fixed platform allows maximizing the payload and reducing the energy consumption. The solution of the inverse kinematics is provided together with simulation results conducted in V-REP. It is shown how parameters like the moving base diameter and the links length influence the workspace of the mechanism. A first prototype is presented together with preliminary results showing a rotation range of +45 degrees about the pitch and roll axes and 120 degrees about the yaw axis.

关键词： Actuated Spherical Joint 3PSS-1S Parallel Manipulator humanoid robotics

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Project-based Learning Unit: Kinematics and Object Grasping in humanoid robotics 16

Project-based Learning Unit: Kinematics and Object Grasping ...

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16th IEEE International Conference on Research and Education in Mechatronics (REM)

作者： Dederichs-Koch, Andrea Zwiers, Ulrike Bochum Univ Appl Sci Dept Mechatron & Mech Engn D-44801 Bochum Germany

ISBN: (纸本)9783945728017

In teaching engineering mechanics, kinematics of rigid bodies represent a typical topic that poses the challenge of inspiring students for rather theoretical contents which are often perceived to be of little benefit in solving practical problems. To highlight the practical relevance of seemingly abstract concepts and, thus to increase student's motivation, an interactive learning unit has been developed supplementing common paper-and-pencil calculations with hands-on robot experiments. Through inverse kinematics the distance of the robot towards an object is calculated. To verify the analytical results, the students are encouraged to program the robot in a project-based learning environment such that the robot grasps the object of interest. As learning media the humanoid NAO robot developed by the French company Aldebaran robotics is used. The implementation of such a project-based learning unit is outlined, including a discussion of the required prior knowledge of the participating students and a detailed description of the analytical and experimental part of the project.

关键词： humanoid robotics kinematics

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An in-depth analysis of humanoid robotics in higher education system

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EDUCATION AND INFORMATION TECHNOLOGIES 2024年第1期29卷 185-217页

作者： Okagbue, Ekene Francis Muhideen, Sayibu Anulika, Abazie Genevive Nchekwubemchukwu, Ilokanulo Samuel Chinemerem, Onwubuya Gift Tsakuwa, Mustapha Bala Achaa, Lydia Osarfo Adarkwah, Michael Agyemang Funmi, Komolafe Blessing Nneoma, Nweze Chiamaka Mwase, Christine Southwest Univ Fac Educ Chongqing Peoples R China Univ Sci & Technol China Dept Sci Technol & Policy Anhui Hefei 230026 Peoples R China Southwest Univ Fac Educ Educ Leadership & Management Chongqing 400700 Peoples R China Southwest Univ Fac Educ Comparat Educ Chongqing Peoples R China Shanghai Normal Univ Fac Educ Teacher Educ Shanghai Peoples R China Southwest Univ Coll Int Studies Chongqing Peoples R China Zhengzhou Univ Sch Polit & Publ Adm 100 Sci Ave Zhengzhou Henan Province Peoples R China Beijing Normal Univ Smart Learning Inst 12F BlockJingshi Technol Bldg12 Xueyuan South Rd Beijing 100082 Peoples R China Shanghai Univ Med & Hlth Sci Coll Int Educ Shanghai Peoples R China Org African Acad Doctors OAAD Kamiti RdPOB *** Nairobi Kenya

humanoid robotics (HR) studies around the world are on the rise today. As a result of its enormous contributions to enhancing productivity and efficiency in education and other spheres of life brought the attention of it to the academic community to consider it as an adequate learning tool in higher education. However, the study revealed that African society and higher education have a limited understanding of humanoid robots. In order to track the trends of humanoid robotics (HR) in higher education, a systematic review and a few crucial bibliometrics elements approach were adopted, and the published documents from the Web of Science and Scopus databases from 2000-2022 were used in the analysis. HR publications in higher education within this period revealed that Japan, the USA, and China are the leading countries in the application of humanoid robots both in the industrial and educational sectors. Furthermore, HR is a new phenomenon in the African educational community, and South Africa remains the singular African nation that has worked in this domain by collaborating with other developed countries. This current research discovered the inexistence of HR in the African educational environment and therefore suggests that African educational policymakers and education curriculum developers should endeavor to implement educational policies that will support the institutionalization of HR in the teaching and learning activities in African higher education.

关键词： humanoid robotics Higher Education Systematic Review Bibliometric Analysis

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Service humanoid robotics: Review and Design of a Novel Bionic-Companionship Framework 8th

Service Humanoid Robotics: Review and Design of a Novel Bion...

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8th International Conference on Robot Intelligence Technology and Applications, RiTA 2020

作者： Yang, Jiaji Chew, Esyin Liu, Pengcheng EUREKA Robotics Lab Cardiff School of Technologies Cardiff Metropolitan University CardiffC5 2YB United Kingdom The Department of Computer Science University of York YorkYO10 5GH United Kingdom

ISBN: (纸本)9789811648021

At present, industrial robotics focused more on motion control and vision;whereas humanoid Service robotics (HSRs) are increasingly being investigated among researchers’ and practitioners’ field of speech interactions. The problematic and quality of human-robot interaction (HRI) has become one of the hot potatoes concerned in academia. This paper proposes a novel interactive framework suitable for HSRs. The proposed framework is grounded on the novel integration of Trevarthen [24 Companionship Theory and neural image generation algorithm in computer vision. By integrating the image-to-natural interactivities generation, and communicate with the environment to better interact with the stakeholder, thereby changing from interaction to a bionic-companionship. In addition, the article also reviews the research of neural image generation algorithms and summarizes the application cases of the algorithm structure in the field of robotics from a critical perspective. We believe that the new interactive bionic-companionship framework can enable HSRs to further develop towards robot companions. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Human-robot interaction humanoid robotics Social robotics

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