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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Nori, Francesco Natale, Lorenzo Sandini, Giulio Metta, Giorgio Italian Inst Technol Genoa Italy

ISBN: (纸本)9781424409129

In this paper, we describe the implementation of a precise reaching controller on an upper-torso humanoid robot. The solution we propose does not rely on prior models of the kinematic structure of either the arm or the head. A learning strategy enables the robot to acquire the required sensory-motor transformations. After learning the robot is able to precisely reach for a visually identified object in the 3-dimensional space. In this technique we use the fixation point (represented in the head joints motor space) as a reference frame to code the position of the object and to represent the eye-to-hand Jacobian matrix. This strategy successfully deals with the kinematic redundancy of the structure and constraints the dimensionality of the problem.

关键词： visual servoing reaching learning Jacobian humanoid robotics

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ResNet-BiGRU-Attention Based Facial Expression Analysis Model for a humanoid Robot 15th

ResNet-BiGRU-Attention Based Facial Expression Analysis Mode...

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15th International Conference on Intelligent robotics and Applications (ICIRA ) - Smart robotics for Society

作者： Lu, Yang Wu, Xiaoxiao Liu, Pengfei Liu, Wanting Zhang, Xinmeng Hou, Yixuan Heilongjiang Bayi Agr Univ Coll Informat & Elect Engn Daqing 163319 Heilongjiang Peoples R China Northeast Petr Univ Artificial Intelligence Energy Res Inst Daqing 163318 Heilongjiang Peoples R China Northeast Petr Univ Heilongjiang Prov Key Lab Networking & Intelligen Daqing 163318 Heilongjiang Peoples R China Northeast Petr Univ Sanya Offshore Oil & Gas Res Inst Sanya 572025 Hainan Peoples R China

ISBN: (纸本)9783031138355;9783031138348

In recent years, the robot industry has developed rapidly. With the advance of technology, robots have played an important role on human life in the world. In order to achieve more and more natural and intelligent human-machine interaction, the facial expression recognition model based on ResNet-BiGRU-Attention is proposed in this paper. Firstly, RNN was introduced on the basis of ResNet, the model learns shallow features through ResNet, and learns deep features through RNN. The authors use BiGRU, an enhanced version of RNN, to learn the features of data from two aspects: forward and backward. Secondly, the authors also use the attention mechanism to enhance the weight of the key features in the facial expression. The RAF-DB facial emotion dataset samples were used to train the proposed model. At last, the bipedal humanoid robot NAO was used as an experimental platform. The simulation experiment shows that the model can identify the 7 basic expressions, including happy, angry, nausea, fear, sadness, surprise, and nature. It achieves 86.02% recognition accuracy rate. The proposed model provides a reliable solution for the facial expression recognition in humanoid robot vision.

关键词： Facial expression ResNet-BiGRU-Attention humanoid robotics CNN Deep learning

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Multimodal Human-Robot Interaction from the Perspective of a Speech Scientist 17th

Multimodal Human-Robot Interaction from the Perspective of a...

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17th International Conference on Speech and Computer (SPECOM)

作者： Rigoll, Gerhard TUM Inst Human Machine Commun Munich Germany

ISBN: (纸本)9783319231327;9783319231310

Human-Robot-Interaction (HRI) is a research area that developed steadily during the last years. While robots in the last decades of the 20th century have been mostly constructed to work autonomously, the rise of service robots during the last 20 years has mostly contributed to the development of effective communication methods between human users and robots. This development has been even accelerated with the advancement of humanoid robots, where the demand for effective human-robot-interaction is even more obvious. It is also amazing to note that, inspired by the success of HRI in the area of service and humanoid robotics, human-robot-interfaces become nowadays even attractive for areas, where HRI has never played a major role before, especially for industrial robots or robots in outdoor environments. Compared to classical human-computer-interaction (HCI), one can say that the basic interaction algorithms are not that much different in HRI, e.g. a speech or gesture recognizer would not work much differently in both domains. The major differences between HCI and HRI are more in the different utilization of modalities, which also depends very much on the type of employed robot. Therefore, the primary goal of this paper is the description of the major differences between HCI and HRI and the presentation of the most important modalities used in HRI and how they affect the interaction depending on the various types of available robot platforms.

关键词： Human-robot interaction Service robots humanoid robotics Multimodal dialogue Brain-machine interfaces

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THE DISTRIBUTED ARCHITECTURE FOR LARGE NEURAL NETWORKS (DISTAL) OF THE humanoid ROBOT MYON

THE DISTRIBUTED ARCHITECTURE FOR LARGE NEURAL NETWORKS (DIST...

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International Conference on Neural Computation Theory and Applications

作者： Hild, Manfred Thiele, Christian Benckendorff, Christian Humboldt Univ Neurorobot Res Lab Dept Comp Sci Berlin Germany

ISBN: (纸本)9789898425843

humanoid robots are complex systems that require considerable processing power. This applies both for low-level sensorimotor loops, as well as for image processing and higher level deliberative algorithms. We present the distributed architecture DISTAL which is able to provide the processing power of large neural networks without relying on a central processor. The architecture successfully copes with runtime-metamorphoses of modular robots, such as the humanoid robot MYON, the body parts of which can be detached and reattached during runtime. We detail the implementation of DISTAL on 32-bit ARM RISC processors, describe the underlying neural byte-code (NBC) of neurons and synapses, and also depict the graphical application software BRAINDESIGNER which releases the user from program coding.

关键词： Neural network architectures Distributed systems Modular implementations humanoid robotics

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Quantitative metrics of social response for autism diagnosis

Quantitative metrics of social response for autism diagnosis

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14th IEEE Workshop on Robot and Human Interactive Communication

作者： Scassellati, B Yale Univ Dept Comp Sci New Haven CT 06520 USA

ISBN: (纸本)0780392744

Social robots recognize and respond to human social cues with appropriate behaviors. The capabilities used to build social robots can be uniquely applied to assist in the diagnosis and treatment of autism, a pervasive developmental disorder which results in selective impairment of social abilities. This paper outlines some of the ways in which social robots can provide unique perspectives to address critical problems in diagnosing autism. We provide preliminary data and observations on how this result can be achieved based on three years of immersion in a clinical research group that performs diagnostic evaluations of more than 130 children per year.

关键词： social robotics autism humanoid robotics

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Fear of a Bot Planet: Anthropomorphism, humanoid Embodiment, and Machine Consciousness

Journal of Artificial Intelligence and Consciousness

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Journal of Artificial Intelligence and Consciousness 2020年第1期7卷 119-132页

作者： Zebrowski, Robin L. Cognitive Science Beloit College Beloit 53511 WI United States

There is an ongoing debate about the existence of humanoid robotics. The arguments tend to focus on the ethical claims that there is always deception involved. However, little attention has been paid to the ontological reasons that humanoid robotics are valuable in consciousness research. This paper examines the arguments and controversy around ethical rejection of humanoid robotics, while also summarizing some of the landscape of 4e cognition that highlights the ways our specific humanoid bodies in our specific cultural, social, and physical environments play an indispensable role in cognition, from conceptualization through communication. Ultimately, we argue that there is a compelling set of reasons to pursue humanoid robotics as a major research agenda in AI if the goal is to create an artificial conscious system that we will be able to both recognize as conscious and communicate with successfully. © 2020 World Scientific Publishing Company.

关键词： 4e Cognition Artificial Consciousness Embodiment humanoid robotics

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Development of Pneumatic Circuit with Intraoral Pressure Control on humanoid Saxophone Playing Robot 7

Development of Pneumatic Circuit with Intraoral Pressure Con...

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7th International Conference on Mechatronics, robotics and Automation

作者： Liu, Chongyi Lin, Jia-Yeu Gu, Zixi Sarah, Cosentino Takanishi, Atsuo Waseda Univ Fac Sci & Engn Tokyo Japan

ISBN: (纸本)9798350352481;9798350352474

To investigate the human mechanisms involved in musical instrument performance, the humanoid saxophone playing robot was developed. However, there are limitations regarding the performance stability and difficulties in controlling dynamics. To address these issues and ensure stable sound production, an improved pneumatic circuit that combines intraoral pressure control with the existing flow control mechanism was developed in this study. The oral cavity was improved by reforming the frame part with hard materials to increase air tightness and facilitate easier maintenance compared to the previous design. Soft material was partly used to enable tongue movement and cross section change while absorbing echoes in oral cavity. A proportional valve was implemented as the air outlet of the oral cavity to mimic the human act of air inhalation, solving the problem of control delay and enabling smoother note transitions. The improved system allows the robot to deliver a consistent and stable performance, enabling a better musical expression.

关键词： Entertainment robotics humanoid robotics musical robotics

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Dynamic Lateral Balance of humanoid Robots on Unstable Surfaces

Dynamic Lateral Balance of Humanoid Robots on Unstable Surfa...

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International Conference on Electrical, Electronics, Communication, Computer, and Optimization Techniques (ICEECCOT)

作者： Sripada, Aditya Warrier, Abhishek Kapoor, Arpit Gaur, Harshit Hemalatha, B. SRM Univ Dept EEE Madras Tamil Nadu India SRM Univ Dept CSE Madras Tamil Nadu India SRM Univ Dept ME Madras Tamil Nadu India BIHER Univ Dept ECE Madras Tamil Nadu India

ISBN: (纸本)9781538623619

This work presents a control algorithm to achieve dynamic lateral balance in humanoid robots on unstable and geodynamic surfaces such as a seesaw or a suspension bridge. The proposed method generates a stable pose at any given point using the feedback from an Inertial Measurement Unit (IMU) in realtime which enables the robot to balance on dynamic surfaces. The algorithm provides a robust control of the Center of Gravity (CoG) of the robot and constricts the CoG from moving away from the most stable pose of the robot in the double support mode thus achieving stability at any given point in time. The method implemented is relatively less heavy in the terms of computation and easy to implement. The proposed system works on any humanoid platform irrespective of size and weight, given the robot has the required degrees of freedom needed to achieve balance.

关键词： Dynamic Stabilisation Lateral Balance humanoid robotics Bipedal Robots

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GPU-based Semi-Infinite Optimization for Whole-Body Robot Control

GPU-based Semi-Infinite Optimization for Whole-Body Robot Co...

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作者： Benjamin Chrétien Universite de Montpellier

学位级别：博士

A humanoid robot is a complex system with numerous degrees of freedom, whose behavior is subject to the nonlinear equations of motion. As a result, planning its motion is a difficult task from a computational perspective. In this thesis, we aim at developing a method that can leverage the computing power of GPUs in the context of optimization-based whole-body motion planning. We first exhibit the properties of the optimization problem, and show that several avenues can be exploited in the context of parallel computing. Then, we present our approach of the dynamics computation, suitable for highly-parallel processing architectures. Next, we propose a many-core GPU implementation of the motion planning problem. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. Because each constraint and its gradient can be evaluated independently for each time interval, we end up with a highly parallelizable problem that can take advantage of GPUs. We also propose a new parametrization of contact forces adapted to our optimization problem. Finally, we investigate the extension of our work to model predictive control.

关键词： motion planning humanoid robotics parallel computing GPGPU nonlinear optimization

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On Multi-Contact Dynamic Motion Using Reduced Models

On Multi-Contact Dynamic Motion Using Reduced Models

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作者： Herve Audren Universite De Montpellier

学位级别：博士

In the context of (multi)-legged robotics, equilibrium (static or dynamic) often called stability is of critical importance. Indeed, as such robots have a non-actuated floating base they can fall. Notice that this is also the case of robot arms ported on wheeled robots. To avoid falling, we must be able to tell apart stable from non-stable motion. This thesis approaches stability from a reduced model point-of-view: that is to say, our main interest is the Center of Mass, as for now, it is commonly used to compute predictive trajectory for dynamic motions. We show how to compute stability regions for this reduced model, at first based on purely static stability. Although geometrical in nature, we show how they depend on the admissible contact forces. Then, we show that taking into account robustness, in the sense of acceleration (or contact forces) uncertainties, we can transform the usual two dimensional stability region into a three dimensional one. To compute this shape, we introduce novel recursive algorithms. We show how we can apply computer graphics techniques for shape morphing in order to continuously deform the aforementioned regions. This allows us to approximate changes in the parameters of those shapes, but also to interpolate between shapes when such stability polyhedron are computed for two distinct contact sequence. Finally, we exploit the effective decoupling offered by the explicit computation of the stability polyhedron to formulate a linear, minimal jerk model-predictive control problem. We also propose another linear MPC problem that exploits more of the available dynamics, but at an increased computational cost. We then adopt a hierarchical approach, and use those CoM results as input to our whole-body controller. Results are obtained on real hardware and in simulation.

关键词： Legged robotics humanoid robotics Stability

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