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This paper presents a finite state-based control system for a powered transfemoral prosthesis that provides stair ascent and descent capability. The control system was implemented on a powered prosthesis and evaluated by a unilateral, transfemoral amputee subject. The ability of the powered prosthesis to provide stair ascent and descent capability was assessed by comparing the gait kinematics, as...
The goal of this paper is to develop a cognitive developmental approach for a humanoid robot so that it can provisionally discover self-affordance relations between certain arm limb movements and corresponding motor units by exploring the outcomes of its random arm movements while in a crawling position. Learning of the right and the left arm affordances is based on self-exploration and a set of experience...
This paper proposes an extension of the original Dynamic Movement Primitive (DMP) algorithm proposed by S. Schaal to imitation learning for object avoidance in a dynamic environment. A potential field was incorporated into the original DMP algorithm by using a virtual goal position which is calculated using a potential field. A humanoid robot ISAC was trained in simulation to learn how to generate...
A dream of humanoid robot researchers is to develop a complete “human-like” (whatever that means) artificial agent both in terms of body and brain. We now have seen an increasing number of humanoid robots (such as Honda's ASIMO, Aldebaran's Nao and many others). These, however, display only a limited number of cognitive skills in terms of perception, learning and decision-making. On the other hand,...
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