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Human safety plays a crucial role for the symbiosis between humans and robots. Moreover, it is also important to maintain the robot's efficiency while keeping the human unharmed. With this purpose, we previously developed Asymmetric Velocity Moderation (AVM) as a reactive strategy for human safety. Nevertheless, this original AVM only considers the end-effector's movement. This may lead to overrestrictions...
Linear Temporal Logic (LTL) has recently become a popular high-level specification language for robotic applications. One of the main reasons for the adoption of LTL is that LTL control synthesis algorithms are scalable while providing sufficient expressive power for a range of applications. However, despite the recent progress, one challenge remains. How can a non-expert robot user, who is not a...
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...
This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization...
In this paper, we develop a brainwave-based control system for Cerebot, consisting of a humanoid robot and a CerebusTM Data Acquisition System up to 128 channels. Under the OpenViBE programming environment, the control system integrates OpenGL, OpenCV, WEBOTS, Choregraph, Central software, and user-developed programs in C++ and Matlab. The proposed system is easy to be expanded or upgraded. Firstly,...
Humanoid robots progress everyday closer and closer to a more stable walking suitable for a human environment as the researchers in the Humanoid robotics field focus their effort on the understanding of the human locomotion. Nonetheless for Social Robotics researchers, humanoid robots might have another use, such as being our companions from birth to nursing home. Designing social humanoid robots...
It is challenging to design a humanoid robot control framework that maintains high-level motion performance in an unknown environment as this requires complicated sensing capabilities and time-consuming process. On the other hand, basic autonomous motion control in joint space is relatively easier and faster to fulfil dynamic tasks. Based on modeling of human muscles, this paper proposes a biological...
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...
This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating commands to the humanoid robot. Our control scheme includes a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to...
We propose a two-stage gait pattern generation scheme for the full-scale humanoid robots, that considers the dynamics of the system throughout the process. The fist stage is responsible for generating semi-dynamically consistent step position and step time information, while the second stage incorporated with multi-body dynamics system is responsible for generation of gait pattern that is feasible...
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control...
This paper describes two novel cartesian control algorithms, in order to balance a humanoid robot on a variable slope surface. Two approaches have been developed, one takes into account the body attitude sensors feedback; and the other one, the body forward kinematics feedback. The first method takes the robot's body attitude sensors measures, that is the robot body configuration in the 3D space,...
In this paper, we proposed a simple algorithm for controlling humanoid walking. We take the body as control target and the legs as control tool. The passive dynamic of robot is used as much as possible, and the legs will execute necessary actions for adjusting body states through sensors' feedback. The hip actuators are used to avoid body from falling down including position and orientation which...
This paper proposes an improved method of Vibe (Visual background extractor) based on Opencv (Open Source Computer Vision Library) on Android operating system. It briefly introduced the processing procedures which build the development environment with Opencv4 Android and implement this application program by using the Android framework. The step of using JNI (Java Native Interface) to call the native...
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