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IEEE International Conference on robotics and Automation (ICRA)

作者： Lafaye, Jury Collette, Cyrille Wieber, Pierre-Brice Aldebaran Robot Paris France Inria Grenoble Rhone Alpes Grenoble France

ISBN: (纸本)9781479969234

The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in term of stability an robustness.

关键词： humanoid robotics Mobile robotics Omnidirectional Wheeled Robot Tilt Recovery Push Recovery Linear Model Predictive Control Quadratic Programming Aldebaran Pepper Robot

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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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Adaptive Joint Trajectory Generator Based on a Chaotic Recurrent Neural Network 5

Adaptive Joint Trajectory Generator Based on a Chaotic Recur...

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5th IEEE Joint International Conference on Development and Learning and on Epigenetic robotics (IEEE ICDL-EpiRob)

作者： Folgheraiter, Michele Tazhigaliyeva, Nazgul Niyetkaliyev, Aibek Nazarbayev Univ Robot & Mechatron Dept Sch Sci & Technol Astana Kazakhstan

ISBN: (纸本)9781467393201

The aim of this paper is to introduce a scalable and adaptable joint trajectory generator based on a recurrent neural network. As main application we target highly redundant kinematic structures like humanoid and multi-legged robotic systems. The network architecture consists of a set of leak integrators which outputs are limited by sigmoidal activation functions. The neural circuit exhibits very rich dynamics and is capable to generate complex periodic signals without the direct excitation of external inputs. Spontaneous internal activity is possible thanks to the presence of recurrent connections and a source of Gaussian noise that is overlapped with the signals. By modulating the internal chaotic level of the network it is possible to make the system exploring high-dimensional spaces and therefore to learn very complex time sequences. A preliminary set of simulations demonstrated how a relatively small network composed of hundred units is capable to generate different motor paths which can be triggered by exteroceptive sensory signals.

关键词： Neurodynamics Recurrent Neural Network Adaptable Motor Path Generator humanoid robotics Lightweight Quadruped Robot

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Bimanual Haptics for humanoid Robot Teleoperation using ROS and V-REP 9

Bimanual Haptics for Humanoid Robot Teleoperation using ROS ...

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9th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Barros, Joao O. Santos, Vitor M. F. Silva, Filipe Univ Aveiro Dept Mech Engn Aveiro Portugal Univ Aveiro Inst Elect & Telemat Engn Aveiro IEETA Aveiro Portugal Univ Aveiro Dept Elect Telecommun & Informat Aveiro Portugal

ISBN: (纸本)9781467369916

The high degree of complexity associated with humanoid robotic platforms significantly hinders the definition of accurate models. Robot learning based on human teleoperation provides suitable ways and means of meeting this challenge. Teleoperating the robot in different motion and balance tasks through a haptic interface, endows the user with the ability to "feel" the dynamics of the system and react to it, taking actions to maintain the robot's balance. The data collected during the demonstrations can then be used on computational learning algorithms to teach the robot how to move, balance, and walk on its own. However, the complexity of real platforms makes the control and data gathering during the teleoperation an intricate task. In order to enhance the user's control over the teleoperation, a dual haptic joystick configuration is introduced, which is first tested in a simulated model of the real platform in V-REP. This paper presents a setup solution to implement the bimanual teleoperation of a humanoid robot, based on a distributed ROS network that bridges the haptic devices and the simulator. Data gathering during several balancing tasks has shown to be possible, and the simulation's behavior is reliable enough to support the development of an infrastructure to operate the real robot based on this approach.

关键词： bimanual haptics haptics humanoid robotics kinesthetic teaching robot learning robot teleoperation ROS tele-kinesthetic teaching V-REP

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A comparison of learning strategies for biologically constrained development of gaze control on an iCub robot

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AUTONOMOUS ROBOTS 2014年第1期37卷 97-110页

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

Gaze control requires the coordination of movements of both eyes and head to fixate on a target. We present a biologically constrained architecture for gaze control and show how the relationships between the coupled sensorimotor systems can be learnt autonomously from scratch, allowing for adaptation as the system grows or changes. Infant studies suggest developmental learning strategies, which can be applied to sensorimotor learning in humanoid robots. We examine two strategies (sequential and synchronous) for the learning of eye and head coupled mappings, and give results from implementations on an iCub robot. The results show that the developmental approach can give fast, cumulative, on-line learning of coupled sensorimotor systems.

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

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

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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

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

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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

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Gait design for an ice skating humanoid robot

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robotics AND AUTONOMOUS SYSTEMS 2014年第3期62卷 306-318页

作者： Iverach-Brereton, Chris Baltes, Jacky Anderson, John Winton, Andrew Carrier, Diana Univ Manitoba Autonomous Agents Lab Winnipeg MB R3T 2N2 Canada

Basic walking gaits are a common building block for many activities in humanoid robotics, such as robotic soccer. The nature of the walking surface itself also has a strong affect on an appropriate gait. Much work is currently underway in improving humanoid walking gaits by dealing with sloping, debris-filled, or otherwise unstable surfaces. Travel on slippery surfaces such as ice, for example, greatly increases the potential speed of a human, but reduces stability. Humans can compensate for this lack of stability through the adaptation of footwear such as skates, and the development of gaits that allow fast but controlled travel on such footwear. This paper describes the development of a gait to allow a small humanoid robot to propel itself on ice skates across a smooth surface, and includes work with both ice skates and inline skates. The new gait described in this paper relies entirely on motion in the frontal plane to propel the robot, and allows the robot to traverse indoor and outdoor ice surfaces more stably than a classic inverted pendulum-based walking gait when using the same skates. This work is demonstrated using Jennifer, a modified Robotis DARwIn-OP humanoid robot with 20 degrees of freedom. (C) 2013 Elsevier B.V. All rights reserved.

关键词： humanoid robotics Skating Bipedal walking

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A Basic Electromagnetic Theory for Controlling Solenoid Actuators 10

A Basic Electromagnetic Theory for Controlling Solenoid Actu...

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10th France-Japan and the 8th Europe-Asia Congress on Mechatronics

作者： Obata, S. Tokyo Denki Univ Sch Sci & Engn Tokyo Japan

Basic electromagnetic formulas are introduced for controlling solenoid actuators including inductance reactions. The new solenoid system is adapted for driving genuine humanoid robots. The constant force actuator in t... 详细信息

ISBN: (纸本)9781479957170

关键词： Lagrangian electromagnetism humanoid robotics solenoid actuator solenoid control electromagnetic theory

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Implementation of Synthetic Brain Concept in humanoid robot

Implementation of Synthetic Brain Concept in Humanoid robot

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International Conference for Convergence of Technology (I2CT)

作者： Korde, Sagar D. Talmale, Girish R. GHRCE Dept CSC Nagpur Maharashtra India

ISBN: (纸本)9781479937592

This paper is elaborate the model of humanoid robot interacts with human being and perform various operation as per the command given by the human being. A humanoid robot having Synthetic brain can able to do Interaction, communication, Object detection, information acquisition about any object, response to voice command, chatting logically with human beings. Object detection will be done by this robot for that purpose there is use image processing concept (HAAR Technique), And to make the system intelligent that is whenever system interact, communicate, chat with human it gives proper response, question / answers there is integrates artificial intelligence and DFA / NFA automata and Prolog language concept for answering logically over the complex and relevant strings or data.

关键词： humanoid robotics Artificial Intelligence Image Processing Audio Filtering

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