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Conventional approaches to analyze human walking motions are mainly based on studying the temporal evolution of relative articular data between segments, at hip, knee and ankle joints. The innovative aspects of the proposed approach are expressed through several aspects. Firstly, feet are not considered as an unique solid. Toe joints (at metatarsophalangeal joint, noted MTP) are taken into account...
We present a method of computing the joint angles for an upper body humanoid robot corresponding to task space motion data from a human demonstrator. Using a divide-and-conquer approach, we group the motors into pan-tilt and spherical units, and solve the inverse kinematics in a modular fashion based on the derivative of the inverse tangent function of the relevant task space variables. For robustness...
With the accelerating advances in technology the need to understand human-machine interactions for the purpose of enhancing cooperative activities has become an important theoretical and empirical problem. This study uses Virtual Partner Interaction (VPI) to examine how behavioral coupling between humans and humanoid robots can be modulated through the use of embedded micro gestures or small parametric...
The human body was not designed by engineers and the way in which it is built poses enormous control problems. Its complexity challenges the ability of classical control theory to explain human movement as well as the development of human motor skills. It is our working hypothesis that the engineering paradigm for building robots places severe limitations on the kinds of interactions such robots can...
This article describes a pilot study in which children with autism alternated between playing a co-operative, dyadic video game with an adult human and playing the same game with an autonomous humanoid robot. The purpose of the study was to determine whether the children, all of whom had difficulties communicating and engaging in social play with others, would display more collaborative behaviours...
In this work, we address the problem of learning arm gestures from imitation by humanoid robots when the training set contains missing data. We assume that multiple gesture demonstrations are available. The problem is challenging because of the fact that there is no temporal alignment between the demonstrations. In this work, we propose two approaches to handle the missing data problem. One approach...
In this paper we will present a new approach to give a robot the capability to recognize already seen people and to remember details about past interactions. These details are time, length, location(GPS) and involved people of one interaction. Furthermore all features of this system work unsupervised. This means that the robot itself decides e.g. when and which person is important to remember or when...
Learning by observation is a useful goal for humanoid robots that strive for human-like motion. Over time the movements and actions of these robots are likely to require modification for different scenarios and environments. Therefore being able to `teach' the robot new tasks and motions without tedious programming is highly useful. The operational space formulation is a highly elegant robot manipulator...
Several real world applications of humanoids in general will require continuous service over a long time period. A humanoid robot operating in different environments over a long period of time means that A) there will be a lot of variation in the speech it has to ground semantically and B) it has to know when a conversation is of interest in order to respond. Detailed natural speech understanding...
While there have been several robots designed to play musical instruments, most are specialized (non-humanoid) designs that do not attempt to model a human performer's specific gestures and movements. Musical instruments are, of course, designed to be played by humans, and the process of developing humanoid performers offers the potential of revealing new insights into the control of instruments in...
In this paper we present a human-friendly control framework and an associated system architecture for performing compliant trajectory tracking of multimodal human gesture information on a position controlled humanoid robot in realtime. The contribution of this paper includes a system architecture and control methodology that enables real-time compliant control of humanoid robots from demonstrated...
This paper describes the development process of the network-based humanoid to provide services in home environment. To provide successful service, various sub-systems of the robot need to be coordinated effectively. So the paper introduces a coordinated framework which makes it possible to interact with humans while executing various tasks by various robots. Using a task script, operator can easily...
Cognitive architectures provide infrastructure for modeling human cognition. Recent studies reveal that these architectures are useful control mechanisms for a variety of robots. Previously, we showed one such architecture, ICARUS, can successfully control a humanoid robot for Blocks World tasks in a simulated environment. In the current work, we extend the application to the real world and use the...
Humanoid robots are becoming an important factor for the future work. The researches in this field are focusing on the ability of using Humanoid robots in many areas where human live and work. Future planes are made to explore the surface of the moon for different purposes which requires long present and existing by human. The development of humanoid robot to work in such environment for the purpose...
Standing up from a supine position is an important human activity of day life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of lying and standing state using the generalize function (GF) set, and gets the interested end effectors (EEs). Then the work focus on analysis of the state transition from lying...
We discuss a constructive procedure for planning human-like motions of humanoid robots on finite-time intervals. Besides complying with various constraints present in the robot dynamics, it allows us to reflect certain features of recorded and analyzed motions of a test person, even though the dimensions, the mass distribution, and the actuation of the robot are different. So, the steps in motion...
Using data collected from human teleoperation, our goal is to learn a control policy that maps perception to actuation. Such policies are potentially multi-valued with regard to perception with a single input mapping to multiple outputs depending on the user's objective at a particular time. We propose a multi-valued function regressor to learn a larger class of robot control policies from human demonstration...
Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking...
Action representation is a key issue in imitation learning for humanoids. With the recent finding of mirror neurons there has been a growing interest in expressing actions as a combination meaningful subparts called primitives. Primitives could be thought of as an alphabet for the human actions. In this paper we observe that human actions and objects can be seen as being intertwined: we can interpret...
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