检索结果-内蒙古大学图书馆

From Saccades to Grasping: A Model of Coordinated Reaching Through Simulated Development on a humanoid Robot

IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2014年第2期6卷 93-109页

作者： Law, James Shaw, Patricia Lee, Mark Sheldon, Michael Aberystwyth Univ Dept Comp Sci Ceredigion SY23 3DB Wales

Infants demonstrate remarkable talents in learning to control their sensory and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces. This paper describes a model of longitudinal development that covers the full sequence from blind motor babbling to successful grasping of seen objects. This includes the learning of saccade control, gaze control, torso control, and visually-elicited reaching and grasping in 3-D space. This paper builds on and extends our prior investigations into the development of gaze control, eye-hand coordination, the use of constraints to shape learning, and a schema memory system for the learning of sensorimotor experience. New contributions include our application of the LWPR algorithm to learn how movements of the torso affect the robot's representation of space, and the first use of the schema framework to enable grasping and interaction with objects. The results from our integration of these various components into an implementation of longitudinal development on an iCub robot show their ability to generate infant-like development, from a start point with zero coordination up to skilled spatial reaching in less than three hours.

关键词： Behavior modeling constraints humanoid robotics infant development reaching staged learning

来源：评论

学校读者我要写书评

暂无评论

Closed-form solution for real-time optimal walking pattern generation constrained by the desired amount of capture point

引用

JOURNAL OF FIELD robotics 2022年第2期39卷 107-116页

作者： Park, Sangsin IICOMBINED Lab Div Robot Team 41Eoulmadang Ro 5 Gil Seoul 04073 South Korea

I present a calculus variations problem for an optimal zero-moment point (ZMP) pattern, and derive a closed-form solution satisfying two-boundary conditions of ZMP and an additional constraint, which is a difference between a current capture point and another. In addition, I present a closed-form solution for the equation of motion of the linear inverted pendulum model, or a cart-table model using the optimal ZMP pattern. Through the closed-form solutions, a current walking pattern is generated with every step period, and is connected with a previous pattern without discontinuity. I demonstrate my optimal walking pattern generator with 13 forward steps, and compare power consumption with walking, using a linearly interpolated ZMP pattern for effectiveness. Moreover, I indicate the walking pattern changes in real-time, depending on varying step lengths.

关键词： humanoid robotics optimization

来源：评论

学校读者我要写书评

暂无评论

Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2011年第3-4期63卷 417-446页

作者： Greggio, Nicola Bernardino, Alexandre Laschi, Cecilia Santos-Victor, Jose Dario, Paolo Scuola Super Sant Anna ARTS Lab I-56025 Pontedera Italy Inst Super Tecn Inst Sistemas & Robot P-1049001 Lisbon Portugal Scuola Super Sant Anna ARTS & CRIM Lab I-56025 Pontedera Italy

Visual pattern recognition is a basic capability of many species in nature. The skill of visually recognizing and distinguishing different objects in the surrounding environment gives rise to the development of sensory-motor maps in the brain, with the consequent capability of object reaching and manipulation. This paper presents the implementation of a real-time tracking algorithm for following and evaluating the 3D position of a generic spatial object. The key issue of our approach is the development of a new algorithm for pattern recognition in machine vision, the Least Constrained Square-Fitting of Ellipses (LCSE), which improves the state of the art ellipse fitting procedures. It is a robust and direct method for the least-square fitting of ellipses to scattered data. In this work we applied it to the iCub humanoid robotics platform simulator and real robot. We used it as a base for a circular object localization within the 3D surrounding space. We compared its performance with the Hough Transform and the state of the art ellipse fitting algorithms, in terms of robustness (succes/failure in the object detection) and fitting precision. Our experiments involve robustness against noise, occlusion, and computational complexities analyses.

关键词： Machine vision Pattern recognition Least-square fitting 3D tracking humanoid robotics

来源：评论

学校读者我要写书评

暂无评论

Human-humanoid Collaborative Carrying

引用

IEEE TRANSACTIONS ON robotics 2019年第4期35卷 833-846页

作者： Agravante, Don Joven Cherubini, Andrea Sherikov, Alexander Wieber, Pierre-Brice Kheddar, Abderrahmane Univ Montpellier CNRS LIRMM F-34090 Montpellier France IBM Res Tokyo 1030015 Japan Univ Montpellier CNRS LIRMM Interact Digital Human F-34090 Montpellier France PAL Robot Barcelona 08005 Spain Univ Grenoble Alpes INRIA F-38334 Grenoble France CNRS AIST Joint Robot Lab Tsukuba Ibaraki 3058568 Japan

This paper contributes to the field of physical human-robot collaboration. We present a complete control framework, which aims at making humanoid robots capable of carrying objects together with humans. First, we design a template identifying the primitive subtasks necessary for collaborative carrying. Then, these subtasks are formulated as constrained optimization problems for controlling the whole-body motion of a humanoid robot. The subtasks include two walking pattern generators that account for physical collaboration, as well as posture and grasping controllers. Finally, we validate our framework in a variety of collaborative carrying experiments, using the HRP-4 humanoid robot.

关键词： humanoid robotics physical human-robot interaction task-space optimization control

来源：评论

学校读者我要写书评

暂无评论

Toward a user-guided manipulation framework for high-DOF robots with limited communication

引用

INTELLIGENT SERVICE robotics 2014年第3期7卷 121-131页

作者： Phillips-Grafflin, Calder Alunni, Nicholas Suay, Halit Bener Mainprice, Jim Lofaro, Daniel Berenson, Dmitry Chernova, Sonia Lindeman, Robert W. Oh, Paul Worcester Polytech Inst Worcester MA 01609 USA Drexel Univ Philadelphia PA 19104 USA

This paper presents our progress toward a user-guided manipulation framework for high degree-of-freedom robots operating in environments with limited communication. The system we propose consists of three components: (1) a user-guided perception interface that assists the user in providing task-level commands to the robot, (2) planning algorithms that autonomously generate robot motion while obeying relevant constraints, and (3) a trajectory execution and monitoring system which detects errors in execution. We report quantitative experiments performed on these three components and qualitative experiments of the entire pipeline with the PR2 robot turning a valve for the DARPA robotics challenge. We also describe how the framework was ported to the Hubo2+robot with minimal changes which demonstrates its applicability to different types of robots.

关键词： humanoid robotics Manipulation Motion planning Teleoperation Robot software architecture

来源：评论

学校读者我要写书评

暂无评论

Design and Modeling of a Lightweight and Low Power Consumption Full-Scale Biped Robot

引用

INTERNATIONAL JOURNAL OF humanoid robotics 2018年第5期15卷 1850022.1-1850022.32页

作者： Folgheraiter, Michele Aubakir, Bauyrzhan Nazarbayev Univ Sch Sci & Technol Robot & Mechatron Dept 53 Kabanbay Batyr Ave Astana Kazakhstan

This paper introduces the design methodology, the modeling and the power consumption tests for a newly developed biped robot equipped with 12 DOFs. The robot is 1.1 meters tall (lower limbs) which makes it comparable in dimension with other state-of-the-art full-scale humanoids. By using a combination of 3D printing techniques and lightweight materials, the system weighs only 10.8 kg (without batteries) while retaining high links strength and rigidity. Without compromising the workspace dimension, the robot presents a very low weight-to-height ratio (9.8 kg/m) that translates into a safer operation and reduced energy consumption. To perform elementary locomotion primitives, e.g., changing the support from one foot to the other or lifting its body, the robot prototype consumes only 65 watts. Simulation results demonstrate the suitability of the robot's kinematics to perform walking motion and predict an average power consumption of 200 watts. The direct kinematics of the robot is presented together with its inverse dynamics based on a Chaotic Recurrent Neural Network (CRNN). The adaptive model is identified using a recursive least squares algorithm that allows the CRNN to predict the torques at different step lengths with a MSE of 0.0057 on normalized data.

关键词： humanoid robotics biped robot kinematic design 3d printing dynamic modeling recurrent neural networks

来源：评论

学校读者我要写书评

暂无评论

From Autonomy to Cooperative Traded Control of humanoid Manipulation Tasks with Unreliable Communication

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2016年第3-4期82卷 341-361页

作者： Phillips-Grafflin, Calder Suay, Halit Bener Mainprice, Jim Alunni, Nicholas Lofaro, Daniel Berenson, Dmitry Chernova, Sonia Lindeman, Robert W. Oh, Paul Worcester Polytech Inst Worcester MA 01609 USA Drexel Univ Philadelphia PA 19104 USA

In this paper, we present our system design, operational procedure, testing process, field results, and lessons learned for the valve-turning task of the DARPA robotics Challenge (DRC). We present a software framework for cooperative traded control that enables a team of operators to control a remote humanoid robot over an unreliable communication link. Our system, composed of software modules running on-board the robot and on a remote workstation, allows the operators to specify the manipulation task in a straightforward manner. In addition, we have defined an operational procedure for the operators to manage the teleoperation task, designed to improve situation awareness and expedite task completion. Our testing process, consisting of hands-on intensive testing, remote testing, and remote practice runs , demonstrates that our framework is able to perform reliably and is resilient to unreliable network conditions. We analyze our approach, field tests, and experience at the DRC Trials and discuss lessons learned which may be useful for others when designing similar systems.

关键词： humanoid robotics Manipulation Teleoperation

来源：评论

学校读者我要写书评

暂无评论

GENERATION OF humanoid ROBOT'S FACIAL EXPRESSIONS FOR CONTEXT-AWARE COMMUNICATION

引用

INTERNATIONAL JOURNAL OF humanoid robotics 2013年第1期10卷 1350013.1-1350013.23页

作者： Trovato, Gabriele Zecca, Massimiliano Kishi, Tatsuhiro Endo, Nobutsuna Hashimoto, Kenji Takanishi, Atsuo Waseda Univ Grad Sch Sci & Engn Shinjuku Ku Tokyo 1620044 Japan Waseda Univ Fac Sci & Engn Tokyo 1620044 Japan Waseda Univ Humanoid Robot Inst Tokyo 1620044 Japan Waseda Univ Grad Sch Sci & Engn Tokyo 1620044 Japan Waseda Univ Dept Modern Mech Engn Tokyo 1620044 Japan

Communication between humans and robots is a very important aspect in the field of humanoid robotics. For a natural interaction, robots capable of nonverbal communication must be developed. However, despite the most recent efforts, robots still can show only limited expression capabilities. The purpose of this work is to create a facial expression generator that can be applied to the 24 DoF head of the humanoid robot KOBIAN-R. In this manuscript, we present a system that based on relevant studies of human communication and facial anatomy can produce thousands of combinations of facial and neck movements. The wide range of expressions covers not only primary emotions, but also complex or blended ones, as well as communication acts that are not strictly categorized as emotions. Results showed that the recognition rate of expressions produced by this system is comparable to the rate of recognition of the most common facial expressions. Context-based recognition, which is especially important in case of more complex communication acts, was also evaluated. Results proved that produced robotic expressions can alter the meaning of a sentence in the same way as human expressions do. We conclude that our system can successfully improve the communication abilities of KOBIAN-R, making it capable of complex interaction in the future.

关键词： Facial expressions humanoid robotics emotion recognition

来源：评论

学校读者我要写书评

暂无评论

A biologically constrained architecture for developmental learning of eye-head gaze control on a humanoid robot

引用

AUTONOMOUS ROBOTS 2013年第1期35卷 77-92页

作者： Law, James Shaw, Patricia Lee, Mark Aberystwyth Univ Dept Comp Sci Aberystwyth Dyfed Wales

In this paper we describe a biologically constrained architecture for developmental learning of eye-head gaze control on an iCub robot. In contrast to other computational implementations, the developmental approach aims to acquire sensorimotor competence through growth processes modelled on data and theory from infant psychology. Constraints help shape learning in infancy by limiting the complexity of interactions between the body and environment, and we use this idea to produce efficient, effective learning in autonomous robots. Our architecture is based on current thinking surrounding the gaze mechanism, and experimentally derived models of stereotypical eye-head gaze contributions. It is built using our proven constraint-based field-mapping approach. We identify stages in the development of infant gaze control, and propose a framework of artificial constraints to shape learning on the robot in a similar manner. We demonstrate the impact these constraints have on learning, and the resulting ability of the robot to make controlled gaze shifts.

关键词： Developmental robotics Gaze control Sensorimotor learning Eye-head coordination humanoid robotics

来源：评论

学校读者我要写书评

暂无评论

Policy gradient learning for a humanoid soccer robot

引用

robotics AND AUTONOMOUS SYSTEMS 2009年第8期57卷 808-818页

作者： Cherubini, A. Giannone, F. Iocchi, L. Lombardo, M. Oriolo, G. Univ Roma La Sapienza Dipartimento Informat & Sistemist I-00185 Rome Italy

In humanoid robotic soccer, many factors, both at low-level (e.g., vision and motion control) and at high-level (e.g., behaviors and game strategies), determine the quality of the robot performance. in particular, the speed of individual robots, the precision of the trajectory, and the stability of the walking gaits, have a high impact on the success of a team. Consequently, humanoid soccer robots require fine tuning, especially for the basic behaviors. In recent years. machine learning techniques have been used to find optimal parameter sets for various humanoid robot behaviors. However, a drawback of learning techniques is time consumption: a practical learning method for robotic applications must be effective with a small amount of data. In this article, we compare two learning methods for humanoid walking gaits based on the Policy Gradient algorithm. We demonstrate that an extension of the classic Policy Gradient algorithm that takes into account parameter relevance allows for better solutions when only a few experiments are available. The results of our experimental work show the effectiveness of the policy gradient learning method, as well as its higher convergence rate, when the relevance of parameters is taken into account during learning. (C) 2009 Elsevier B.V. All rights reserved.

关键词： humanoid robotics Machine learning Motion control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：