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Towards establishing future-oriented relations between humans and robots, not only verbal, but also nonverbal robot functions have been studied. However, it is not clear how these different functions should be combined and implemented in robots in order to achieve `natural' human-robot communication or interaction. In this paper, we focus on the timing for the coordination between utterance as a verbal...
As a possible future task for humanoid robots, lifting movement of human-like object is experimentally studied. Our aim is to understand what is the knack, which is a important information to improve the skill level. Using a motion capture device, lifting of a human-like dummy (about 30 [kg] weigh) is measured for both experienced and inexperienced subjects. We found that three distinctive feature...
Up to now, different kinds of musical performance robots (MPRs) have been developed. MPRs are designed to closely reproduce the required motor skills displayed by humans in order to play musical instruments. Our research, at Waseda University, has been focused on developing an anthropomorphic flutist robot. In this year, we have succeeded in developing the Waseda flutist robot no.4 refined IV (WF-4RIV);...
Towards developing robots that are capable of communicating in dasianaturalpsila ways with humans, we believe that it is important to study, and note any important interrelation between, both verbal and non-verbal information in human communication. The model of a timing control system was developed based on a previous study that analyzed the utterance and body motions in the context of human-human...
Up to now, different kinds of musical performance robots (MPRs) and robotic musicians (RMs) have been developed. MPRs are designed to closely reproduce the motor skills displayed by humans in order to play musical instruments. From this approach, MPRs are used as benchmarks to study the human motor control from an engineering point of view and to understand better the human-robot interaction from...
Humanoid robots demand high performance on actuators, such as power-to-weight ratio, durability, occupation volume, and freedom of placement. Also, for robots to interact with unknown objects, flexibility is necessary. Backdrivability is effective when both flexibility and high output torque needs to be realized, which were often contradicting requirement. In this paper, backdrivable hydrostatic transmission...
Our research on the anthropomorphic flutist robot has been focused on understanding the human motor control, enabling the communication between human and robots, proposing novel applications for humanoid robots and introducing novel ways of musical expression. In this video, we are presenting the musical skills of the Waseda Flutist Robot. In particular, we are presenting the WF-4RIV; which is able...
As a result from our research, the Waseda Flutist Robot is able of playing the flute nearly similar to an intermediate level flutist. In order to enhance the expressiveness of its performance, we are focusing our research on improving the mechanical design of the simulated organs as well as implementing automated algorithms for the generation of expressive music performance. In a previous research,...
This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody controllers, various sorts of many sensors including...
Aiming at opening up a new stage of humanoid robotics, we have been studying on the mechanically soft structure for humanoids and have developed a full-body muscle-driven flexible-spine humanoid robots. In this paper, we discuss body structure of humanoids, describing the advantages of musculoskeletal flexible body and briefly introducing the previous works on constructing hardware and software of...
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