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Generation of flexible goal directed movement describes the key skill of autonomous articulated robots. Critical points are still the acknowledgement of reaching and grasping task while satisfying static and dynamically changing constraints given by the environment or caused by the human operator in a collaborative situation. This means that the motion planning dynamics has to incorporate multiple...
The objective was to generate human-like social motion in a human-looking humanoid robot following the biomimetic approach. We thought that the robot's motion should be human-like for their social acceptance and it could be done if and only if (i) the robot appearance is made human-like, and (ii) human kinematics is implemented in the robot to generate the motion. To address the above, we introduced...
Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived...
Transferring skills from humans to robots is an appealing way for teaching artificial systems to perform a variety of different tasks. In this context, imitation learning appears as an important approach for teaching robots due to the generation of human-like movements and the ease of teaching new tasks. This paper addresses the use of a Kinect-based human motion capture system and the reproduction...
Squatting down and lifting object for biped robot is one of the basic conditions of realizing the humanoid movement. This paper analyzes the movement through the linkage mechanism. The motion rule of the whole body's 15 degrees of freedom (DOF) is the most important part. This paper calculates the necessary conditions to make the robot keep balance and not tip over in the process of squatting down...
When abundant humanoid robots are springing up in many application fields, the anthropomorphic arm, which is the most important part of the humanoid robot, is facing numerous complicated manipulation tasks. In order to address two diversity issues of anthropomorphic arm platforms and manipulation tasks, a unified "language", a novel task-motion planning method, for different anthropomorphic...
In this paper, an upper limb rehabilitation robot based on virtual reality is developed to improve therapeutic efficacy. With the help of the robot, the patients can reach virtual items appearing randomly with impaired limbs in a virtual environment. The kinematics of the robot is analyzed and the appearance rules are made to avoid mechanical interference between the arms. Both passive mode and active...
Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They have similar joint layout and are referred to SSRMS-type manipulators. This paper presents an effective inverse kinematics...
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