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This paper proposes a control method that improves the ability of adult-sized humanoid robots to adapt to weightlifting situations. In order to achieve the goal of having humanoid robots automatically balance their motion for weight-lifting situations, feedback control is added to the motion control system. The feedback sensors include a three-axis accelerometer and a three-axis gyroscopic, which...
In this paper, we propose an indoor positioning system for situation awareness in emergency situations. We consider a system that uses inertial sensors to provide positioning information in environments without GNSS coverage. We present the overall system architecture with the special emphasis on a smartphone application for indoor positioning and a mapping web portal where authorized personnel is...
The rapid market shift to multi-functional mobile devices has created an opportunity to support activity recognition using the on-board sensors of these devices. Over the last decade, many activity recognition approaches have been proposed for various activities in different settings. Wearable sensors and augmented environments potentially have better accuracy, however performing activity recognition...
This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. Weput forward the existing knowledge on humanoid walking in aconcise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre...
One of the reasons why humanoid robots fall is the presence of calibration errors at their joints. In this paper, we propose a method for detecting these calibration errors during online operation. We use a signal classification technique to detect differences in the signal patterns of sensors mounted on humanoids caused by calibration errors. Moreover, we present a method using ℓ1- and ℓ2-SVM for...
In this paper, we tackle the problem of indoor positioning, where the GPS signals are unavailable and the energy consumption of battery powered mobile devices should be carefully considered during the positioning process. For this purpose, we study the inertial navigation system (INS), which uses only a set of inertial sensors, that represent an Inertial Measurement Unit (IMU), attached to the mobile...
Up to now humanoid robots have been designed primarily for walking on flat surfaces. In the future, humanoid robots are required to replace human beings to operate in natural or damaged man-engineered environments. In the 2013 DARPA Robotics Challenge, the robots are required to walk through several type of rough terrains. In this scenario, the robot will be challenged to keep balance and fulfill...
This paper introduces a method to track the spatial location and movement of a human using wearable inertia sensors without additional external global positioning devices. Starting from the lower limb kinematics of a human, the method uses multiple wearable inertia sensors to determine the orientation of the body segments and lower limb joint motions. At the same time, based on human kinematics and...
We describe an ego-motion estimation system developed specifically for humanoid robots, integrating visual and inertial sensors. It addresses the challenge of significant scale changes due to forward motion with a finite field of view by using recent sparse multi-scale feature tracking techniques. Additionally, it addresses the challenge of long-range temporal correlation due to walking gaits by employing...
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed...
We propose a new computational model describing the motion imitation by humans, and which parallels the direct matching hypothesis in Neuroscience. To illustrate our computational model, we present a scheme where a robot imitates another robot achieving stepping motions on horizontal plane. The idea is to map an observed action onto the robot's motor representation of the same action: the motion controller...
A behavioral strategy designed for a humanoid robot for the purpose of obstacle avoidance based on four ultrasonic sensors for the learning behavior and performance is proposed and implemented with an autonomous humanoid robot. A mechanical structure with 4 degrees of freedom is designed so that a small-size humanoid robot named ARSR is able to accomplish three types of walking motion. One experiment...
In this paper, a simple path correction and obstacle avoidance method with a bipedal robot for the learning stratification and performance, using an ultrasonic sensor and electronic compass sensor, is proposed. This bipedal robot was comprised using the Lego NXT Intelligent Bricks. The proposed method is implemented on an autonomous humanoid robot (the ARSR). One ultrasonic sensor and one electronic...
In a passenger-carrying walking humanoid robot, it is preferable to use the walking pattern generation and balance control method that can accommodate variable passenger weights. This is because the range of possible payloads for passenger weight is relatively wide, from zero to approximately one hundred kgf. If the variable weight is not considered, the walking performance and walking stability of...
This paper represents the basics of robotics in the context of artificial intelligence and provides solution in future trend in robotics. It describes the very basics of robotics like sensors and actuators, gives an overview on robotic history and introduces some basic problems encountered in modern robotics. It describes possible solutions to those problems without going deeply into theory. The problems...
An effective controller is crucial for a humanoid robot since a humanoid robot generally has more than thirty DOFs to be controlled in real-time and needs to deal with information of multiple sensors. On the other hand, real-time fault diagnosis is increasingly important for the humanoid robot due to its mechanism and control complexity and inherent instability of risking tipping itself over. In this...
The turning (Direction Changing Walking) is necessary to move a robot all over the working place. However, the disturbance is the serious problem in the turning for example the slipping the feet on the ground or the swing by walking. In this paper, we proposed the robust direction control system that used gyro sensor feedback under environment with disturbance. We analyzed a steady-state characteristic...
This paper presents a novel robust framework for online walking control that uses the estimated actual posture of a robot for frequent pattern generation. The motion status in the absolute coordinate system is estimated by using an attitude sensor, and the estimated status is used as the initial condition of the next online pattern generation, so that the walking pattern generator can effectively...
This paper presents an approach to control gaits of humanoid bipedal robots in operational space without reference trajectories. This control strategy is based on the planning of the sequential events during the walking process. The aim of this study is to propose a new control strategy which is more reactive, permits a precise coordination of both legs during the double stance phase and the generation...
This paper presents a haptic sensor foot system for humanoid robot and an active tactile sensing technique to balance the humanoid robot with two legs for human and robot interaction task. The proposed sensors are implemented on two robotic foots. The sensor unit contains three thin sheets of force sensitive resistors. Those elements are arranged triangularly on the back of each foot. The research...
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