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Service humanoid robotics: a novel interactive system based on bionic-companionship framework

PEERJ COMPUTER SCIENCE 2021年 7卷 e674页

作者： Yang, Jiaji Chew, Esyin Liu, Pengcheng Cardiff Metropolitan Univ Cardiff Sch Technol Cardiff Wales Univ York Dept Comp Sci York N Yorkshire England

At present, industrial robotics focuses more on motion control and vision, whereas humanoid service robotics (HSRs) are increasingly being investigated and researched in the field of speech interaction. The problem and quality of human-robot interaction (HRI) has become a widely debated topic in academia. Especially when HSRs are applied in the hospitality industry, some researchers believe that the current HRI model is not well adapted to the complex social environment. HSRs generally lack the ability to accurately recognize human intentions and understand social scenarios. This study proposes a novel interactive framework suitable for HSRs. The proposed framework is grounded on the novel integration of Trevarthen's (2001) companionship theory and neural image captioning (NIC) generation algorithm. By integrating image-to-natural interactivity generation and communicating with the environment to better interact with the stakeholder, thereby changing from interaction to a bionic-companionship. Compared to previous research a novel interactive system is developed based on the bionic-companionship framework. The humanoid service robot was integrated with the system to conduct preliminary tests. The results show that the interactive system based on the bionic-companionship framework can help the service humanoid robot to effectively respond to changes in the interactive environment, for example give different responses to the same character in different scenes.

关键词： humanoid robotics Human-robot interaction Social robotics

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A Smart Motor Rehabilitation System Based on the Internet of Things and humanoid robotics

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APPLIED SCIENCES-BASEL 2024年第24期14卷 11489页

作者： Moghbelan, Yasamin Esposito, Alfonso Zyrianoff, Ivan Spaletta, Giulia Borgo, Stefano Masolo, Claudio Ballarin, Fabiana Seidita, Valeria Toni, Roberto Barbaro, Fulvio Di Conza, Giusy Quartulli, Francesca Pia Di Felice, Marco Univ Bologna Dept Comp Sci & Engn I-40126 Bologna Italy Univ Bologna Dept Stat Sci I-40126 Bologna Italy ISTC CNR Lab Appl Ontol LOA I-38123 Trento Italy Univ Palermo Dept Engn I-90133 Palermo Italy CNR ISSMC I-48018 Faenza Italy Endocrinol TMC TUSM Boston MA 02116 USA Ctr Med Galliera Ctr AI Med & Odontostomatol I-40015 Bologna Italy Univ Parma Re Mo Bio S Lab DIMEC I-43121 Parma Italy

The Internet of Things (IoT) is gaining increasing attention in healthcare due to its potential to enable continuous monitoring of patients, both at home and in controlled medical environments. In this paper, we explore the integration of IoT with human-robotics in the context of motor rehabilitation for groups of patients performing moderate physical routines, focused on balance, stretching, and posture. Specifically, we propose the I-TROPHYTS framework, which introduces a step-change in motor rehabilitation by advancing towards more sustainable medical services and personalized diagnostics. Our framework leverages wearable sensors to monitor patients' vital signs and edge computing to detect and estimate motor routines. In addition, it incorporates a humanoid robot that mimics the actions of a physiotherapist, adapting motor routines in real-time based on the patient's condition. All data from physiotherapy sessions are modeled using an ontology, enabling automatic reasoning and planning of robot actions. In this paper, we present the architecture of the proposed framework, which spans four layers, and discuss its enabling components. Furthermore, we detail the current deployment of the IoT system for patient monitoring and automatic identification of motor routines via Machine Learning techniques. Our experimental results, collected from a group of volunteers performing balance and stretching exercises, demonstrate that we can achieve nearly 100% accuracy in distinguishing between shoulder abduction and shoulder flexion, using Inertial Measurement Unit data from wearable IoT devices placed on the wrist and elbow of the test subjects.

关键词： motor rehabilitation internet of things humanoid robotics ontology human activity recognition machine learning

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Partial Human Data in Design of Human-Like Walking Control in humanoid robotics

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IFAC Proceedings Volumes 2012年第22期45卷 485-490页

作者： David Galdeano Vincent Bonnet Moussâb Bennehar Philippe Fraisse Ahmed Chemori LIRMM Université Montpellier 2 LIRMM - UMR 5506 - CC 477 161 rue Ada 34095 Montpellier Cedex 5 France LABLAB Department of Human Movement and Sports Sciences University of Rome “Foro Italico” Piazza Lauro de Bosis 6 00194 Rome Italy

In this paper a human-based control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the CoM as well as the relative position of robot's feet. Through the proposed study, it is shown that this reduced set of data allows to fully describe and reproduce a whole body human-like walking. In addition of reducing the number of controlled variables, the proposed control strategy has the advantage of not requiring a complete walking cycle decomposition due to its continuous character. Simulations results are presented to show the effectiveness of the proposed control scheme.

关键词： humanoid robotics Human motion capture Walking control

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Cooperative dual-actor proximal policy optimization algorithm for multi-robot complex control task

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ADVANCED ENGINEERING INFORMATICS 2025年 63卷

作者： Baltes, Jacky Akbar, Ilham Saeedvand, Saeed Natl Taiwan Normal Univ Dept Elect Engn Taipei Taiwan

This paper introduces a novel multi-agent Deep Reinforcement Learning (DRL) framework named the Cooperative Dual-Actor Proximal Policy Optimization (CDA-PPO) algorithm, designed to address complex humanoid robot cooperative learning control tasks. Effective cooperation among multiple humanoid robots, particularly in scenarios involving complex walking gait control and external disturbances in dynamic environments, is a critical challenge. This is especially pertinent for tasks requiring precise coordination and control, such as joint object transportation. In various real-life scenarios, humanoid robots might need to cooperate to carry large objects in many scenarios. This capability is crucial for logistics, manufacturing, intelligent transportation, and search-and-rescue missions applications. humanoid robots have gained significant popularity, and their use in these cooperative tasks is becoming more common. To address this challenge, we propose CDA-PPO, which introduces a learning-based communication platform between agents and employs two distinct policy networks for each agent. This dual-policy approach enhances the robots' ability to adapt to complex interactions and maintain stability while performing intricate tasks. We demonstrate the efficacy of CDA-PPO in a cooperative object-transportation scenario, where two humanoid robots collaborate to carry a table. The experimental results show that CDA-PPO significantly outperforms traditional methods, such as Independent PPO (IPPO), Multi-Agent PPO (MAPPO), and Multi-Agent Twin Delayed Deep Deterministic Policy Gradient (MATD3), in terms of training efficiency, stability, reward acquisition, and humanoid robot cooperative balance control with effective coordination between robots. The findings underscore the potential of CDA-PPO to advance the field of cooperative multi-agent control problems, proposing the way for future research in complex robotics applications.

关键词： Deep reinforcement learning Proximal policy optimization humanoid robotics Isaac gym

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Chikamatsu, Mori, and the uncanny valley

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I-PERCEPTION 2025年第1期16卷

作者： Macdorman, Karl F. Indiana Univ Indianapolis IN USA

In Japan, robotics projects like Geminoid, modeled after Hiroshi Ishiguro, exhibit a fascination with creating human doubles. Yet, warnings against this also thread through Japanese thought, from the Edo-period playwright Chikamatsu Monzaemon (1653-1724) to the robotics professor Mori Masahiro (1927-2025). Though centuries apart, they describe the same uncanny valley phenomenon-eerie, cold, repellent feelings that arise when confronting the imperfectly human. In an interview with Hozumi Ikan, translated here, Chikamatsu presents a theory of realism exemplified through puppet theater and kabuki. He divides realism into four zones: the unreal, conceptual realism, surface realism, and the real. The unreal lacks authenticity, surface realism lacks soul, and the real lacks expressiveness. For Chikamatsu, it is conceptual realism that captivates an audience. A play's unfolding events evoke empathy and emotion through their meaning for the characters. Similarly, Mori divides realism into four zones: industrial, humanoid, and android robots, and real people. Industrial robots evoke little affinity, and androids risk appearing eerie. Though real people evoke the most affinity, androids cannot become indistinguishable from them. For Mori, only humanoid robots evoke affinity without risking uncanniness. By exploring anthropomorphism, both Chikamatsu and Mori illuminate principles for designing robots that do not unsettle but delight.

关键词： anthropomorphism bunraku humanoid robotics j & omacr ruri realism

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NICOL: A Neuro-Inspired Collaborative Semi-humanoid Robot That Bridges Social Interaction and Reliable Manipulation

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IEEE ACCESS 2023年 11卷 123531-123542页

作者： Kerzel, Matthias Allgeuer, Philipp Strahl, Erik Frick, Nicolas Habekost, Jan-Gerrit Eppe, Manfred Wermter, Stefan Univ Hamburg Dept Informat Knowledge Technol Grp D-22527 Hamburg Germany Hamburg Univ Technol Inst Data Sci Fdn D-21079 Hamburg Germany

Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed for social interaction or industrial object manipulation tasks. The design of collaborative robots seldom emphasizes both their social interaction and physical collaboration abilities. To bridge this gap, we present the novel semi-humanoid NICOL, the Neuro-Inspired COLlaborator. NICOL is a large, newly designed, scaled-up version of its well-evaluated predecessor, the Neuro-Inspired COmpanion (NICO). NICOL adopts NICO's head and facial expression display and extends its manipulation abilities in terms of precision, object size, and workspace size. Our contribution in this paper is twofold-firstly, we introduce the design concept for NICOL, and secondly, we provide an evaluation of NICOL's manipulation abilities by presenting a novel extension for an end-to-end hybrid neuro-genetic visuomotor learning approach adapted to NICOL's more complex kinematics. We show that the approach outperforms the state-of-the-art Inverse Kinematics (IK) solvers KDL, TRACK-IK and BIO-IK. Overall, this article presents for the first time the humanoid robot NICOL, and contributes to the integration of social robotics and neural visuomotor learning for humanoid robots.

关键词： humanoid robotics neuro-genetic visuomotor learning neuro-robotics

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Integrating multi-purpose natural language understanding, robot's memory, and symbolic planning for task execution in humanoid robots

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robotics AND AUTONOMOUS SYSTEMS 2018年 99卷 148-165页

作者： Waechter, Mirko Ovchinnikova, Ekaterina Wittenbeck, Valerij Kaiser, Peter Szedmak, Sandor Mustafa, Wail Kraft, Dirk Kruger, Norbert Piater, Justus Asfour, Tamim KIT Adenauerring 2 D-76131 Karlsruhe Germany Univ Innsbruck UIBK Tech Str 21a A-6020 Innsbruck Austria Univ Southern Denmark SDU Campusvej 55 DK-5230 Odense M Denmark Aalto Univ Konemiehentie 2 Espoo 6020 Finland

We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate complex plans according to the current world state, and monitor plan execution. The presented development supports replacing missing objects and suggesting possible object locations. It is a realization of the concept of structural bootstrapping developed in the context ofthe European project Xperience. The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users in a simulation environment. (c) 2017 Published by Elsevier B.V.

关键词： Structural bootstrapping Natural language understanding Planning Task execution Object replacement humanoid robotics

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Towards long-lived robot genes

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robotics AND AUTONOMOUS SYSTEMS 2008年第1期56卷 29-45页

作者： Fitzpatrick, Paul Metta, Giorgio Natale, Lorenzo Ind Technol Inst I-16163 Genoa Italy Univ Genoa LIRA Lab I-16145 Genoa Italy

Robot projects are often evolutionary dead ends, with the software and hardware they produce disappearing without trace afterwards. In humanoid robotics, a small field with an avid appetite for novel devices, we experience a great deal of "churn" of this nature. In this paper, we explore how best to make our projects stable and long-lasting, without compromising our ability to constantly change our sensors, actuators, processors and networks. We also look at how to encourage the propagation and evolution of hardware designs, so that we can start to build up a "gene-pool" of material to draw upon for new projects. We advance on two fronts, software and hardware. For some time, we have been developing and using the YARP robot software architecture [Giorgio Metta, Paul Fitzpatrick, Lorenzo Natale, YARP: Yet another robot platform, International Journal on Advanced robotics Systems 3 (2006) 43-48], which helps organize communication between sensors, processors, and actuators so that loose coupling is encouraged, making gradual system evolution much easier. YARP includes a model of communication that is transport-neutral, so that data flow is decoupled from the details of the underlying networks and protocols in use. Importantly for the long term, YARP is designed to play well with other architectures. Device drivers written for YARP can be ripped out and used without any "middleware". On the network, basic interoperation is possible with a few lines of code in any language with a socket library, and maximally efficient interoperation can be achieved by following documented protocols. These features are not normally the first things that end-users look for when starting a project, but they are crucial for longevity. We emphasize the strategic utility of the Free Software social contract [B. Perens, The open source definition, in: Chris DiBona, Sam Ockman, Mark Stone (Eds.), Open Sources: Voices from the Open Source Revolution, O'Reilly and Associates, Cambridge, MA, 1999

关键词： humanoid robotics free software device drivers ICub humanoid YARP

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Simulation model of general human and humanoid motion

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MULTIBODY SYSTEM DYNAMICS 2007年第1期17卷 71-96页

作者： Vukobratovic, Miomir Potkonjak, Veljko Babkovic, Kalman Borovac, Branislav Inst Mihajlo Pupin Belgrade 11000 Serbia Univ Belgrade Fac Elect Engn Belgrade 11000 Serbia Univ Novi Sad Fac Tech Sci Novi Sad 21000 Serbia

In the last decade we have witnessed a rapid growth of humanoid robotics, which has already constituted an autonomous research field. humanoid robots (or simply humanoids) are expected in all situations of humans' everyday life, "living" and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today's, and especially tomorrow's, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system ("flier"). Particular problems (walking, jumping, etc.) are then considered as different contact tasks - interaction between the flier and various objects (being either single bodies or separate dynamic systems).

关键词： humanoid robotics flier dynamics walking jumping link motion contact takeoff landing contact force goalkeeper biological modeling

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Bimodal Tactile Sensor without Signal Fusion for User-Interactive Applications

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ACS NANO 2022年第2期16卷 2789-2797页

作者： Ma, Xiaole Wang, Chunfeng Wei, Ruilai He, Jiaqi Li, Jing Liu, Xianhu Huang, Fengchang Ge, Shuaipeng Tao, Juan Yuan, Zuqing Chen, Ping Peng, Dengfeng Pan, Caofeng Guangxi Univ Ctr Nanoenergy Res Sch Phys Sci & Technol Nanning 530004 Guangxi Peoples R China Chinese Acad Sci CAS Ctr Excellence Nanosci Beijing Inst Nanoenergy & Nanosyst Beijing Key Lab Micronano Energy & Sensor Beijing 101400 Peoples R China Zhengzhou Univ Natl Engn Res Ctr Adv Polymer Proc Technol Zhengzhou 450002 Peoples R China Shenzhen Univ Key Lab Optoelect Devices & Syst Minist Educ & Guangdong Prov Coll Phys & Optoelect Engn Shenzhen 518060 Peoples R China

Tactile sensors with multimode sensing ability are cornerstones of artificial skin for applications in humanoid robotics and smart prosthetics. However, the intuitive and interference-free reading of multiple tactile signals without involving complex algorithms and calculations remains a challenge. Herein a pressure-temperature bimodal tactile sensor without any interference is demonstrated by combining the fundamentally different sensing mechanisms of optics and electronics, enabling the simultaneous and independent sensing of pressure and temperature with the elimination of signal separation algorithms and calculations. The bimodal sensor comprises a mechanoluminescent hybrid of ZnS-CaZnOS and a poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate) (PEDOT:PSS) thermoresistant material, endowing the unambiguous transduction of pressure and temperature into optical and electrical signals, respectively. This device exhibits the highest temperature sensitivity of -0.6% degrees C-1 in the range of 21-60 degrees C and visual sensing of the applied forces at a low limitation of 2 N. The interference-free and light-emitting characteristics of this device permit user-interactive applications in robotics for encrypted communication as well as temperature and pressure monitoring, along with wireless signal transmission. This work provides an unexplored solution to signal interference of multimodal tactile sensors, which can be extended to other multifunctional sensing devices.

关键词： tactile sensor multimode sensing hybrid mechanism humanoid robotics smart prosthetics

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