scholarly journals Catadioptric panoramic stereovision for humanoid robots

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 799-811 ◽  
Author(s):  
C. Salinas ◽  
H. Montes ◽  
G. Fernandez ◽  
P. Gonzalez de Santos ◽  
M. Armada
Keyword(s):  
Visual Servoing ◽  
Humanoid Robot ◽  
Moving Objects ◽  
Control Strategies ◽  
Depth Estimation ◽  
Humanoid Robots ◽  
Robust Detection ◽  
Motion System ◽  
Wide Range ◽  
3D Information

SUMMARYThis paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.

scholarly journals Amaranthine: Humanoid Robot Kinematics

2020 ◽  
Vol 29 (01n04) ◽  
pp. 2040015
Author(s):  
Shefalika Asthana ◽  
Srikanth R. Karna ◽  
Irine Ann Shelby
Keyword(s):  
Small Groups ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Service Robots ◽  
Robot Kinematics ◽  
Heavy Duty ◽  
Medical Assistance ◽  
Wide Range ◽  
3D Printed ◽  
Application Specific

Humanoid robots are employed in a wide range of fields to replicate human actions. This paper presents the mechanism, configuration, mathematical modeling, and workspace of a 3D printed humanoid robot – Amaranthine. It also discusses the potential scope of humanoid robots in the present day and future. Robots can be programmed for automation as per the demand of the task or operations to be performed. Humanoid robots, while being one of the small groups of service robots in the current market, have the greatest potential to become the industrial tool of the future. Introducing a Humanoid Robot-like Amaranthine holds huge scope majorly in the fields of medical assistance, teaching aid, large industries where heavy-duty operations require application-specific software, etc. Amaranthine was 3D printed and assembled at the RISC Lab of University of Bridgeport.

scholarly journals Behaviour coordinations and motion synchronizations for humanoid robot

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141772845
Author(s):  
S Parasuraman ◽  
Phua Seong Hock ◽  
MKA Ahamed Khan ◽  
D Kingsly Jeba Singh ◽  
Chin Yun Han
Keyword(s):  
Object Detection ◽  
Humanoid Robot ◽  
Depth Estimation ◽  
Motor Command ◽  
Humanoid Robots ◽  
Field Detection ◽  
Segmentation Pattern ◽  
And Performance ◽  
Modular Framework ◽  
Motion Synchronization

Many features have to be solved by humanoid robot during soccer game to get evidences from the environment such as detect ball, goal, lines and other robotmates. Having these data, the robot has to self-localize and proceed for next action reactively and ensure sense–think–act process efficiently. Sense–think–act processes are still a challenge task for humanoid robots. Hence, a modular framework is proposed for soccer ball game in which the architecture is mainly composed of object detection, field detection and motion synchronization behaviours. Object detection is modularized into ball detection, segmentation and depth estimation to facilitate the control actions. Similarly, field detection is modularized into goalpost and boundaries detection. Motion synchronization is modularized into primitives such as scoring, kip up and diving which uses the proposed support polygon and centre of moment methods. The behaviour synchronization and execution takes place in multilayers which include player and keeper mode as expert layer, modular behaviours as reactive layers and servo and motor command are executed in skill layer. The behaviour analysis and performance are targeted on the trigonometric depth estimation, grid-based segmentation pattern learning and recognition as well as support polygon and Centre Of Mass (COM). Experimental results are demonstrated and discussed. The proposed modular framework in this work has been tested using the NAO robot.

scholarly journals Tiny Blind Assistive Humanoid Robot

2021 ◽  
Author(s):  
Amrita Ganguly ◽  
Bijan Paul
Keyword(s):  
General Public ◽  
Visually Impaired ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Ultrasonic Sensor ◽  
Future Research ◽  
Wide Range

In today’s world, individuals show more enthusiasm for robotics and aim to depend upon humanoid robots for multiple purposes. It has implementations in a wide range of sectors such as- in atomic plants, house management, government foundations and even astro stations. Our research-based project is elucidating robotics with a tiny humanoid robot following the human structure to make gestures like strolling, dancing, and detecting objects near it. It has been achieved using Arduino Nano (Atmega 328P), Servo motors SG90 working on the conception of servomechanism and the Ultrasonic sensor to identify obstacles and restrain the Robot from going ahead. The aim is to fabricate a bigger humanoid robot that will serve our general public and make our life simpler. The Robot has eventual utilize in marketing, entertainment and helping the visually impaired to move from one place to another. This project can also be a great apparatus for future research works and alteration.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals Marine Organisms for the Sustainable Management of Plant Parasitic Nematodes

Plants ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 369
Author(s):  
Pasqua Veronico ◽  
Maria Teresa Melillo
Keyword(s):  
Crop Production ◽  
Control Strategies ◽  
Marine Organisms ◽  
New Drugs ◽  
Effective Control ◽  
Parasitic Nematodes ◽  
Plant Parasitic Nematodes ◽  
Wide Range ◽  
Plant Growth Stimulants ◽  
Plant Parasitic

Plant parasitic nematodes are annually responsible for the loss of 10%–25% of worldwide crop production, most of which is attributable to root-knot nematodes (RKNs) that infest a wide range of agricultural crops throughout the world. Current nematode control tools are not enough to ensure the effective management of these parasites, mainly due to the severe restrictions imposed on the use of chemical pesticides. Therefore, it is important to discover new potential nematicidal sources that are suitable for the development of additional safe and effective control strategies. In the last few decades, there has been an explosion of information about the use of seaweeds as plant growth stimulants and potential nematicides. Novel bioactive compounds have been isolated from marine cyanobacteria and sponges in an effort to find their application outside marine ecosystems and in the discovery of new drugs. Their potential as antihelmintics could also be exploited to find applicability against plant parasitic nematodes. The present review focuses on the activity of marine organisms on RKNs and their potential application as safe nematicidal agents.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

scholarly journals Wolbachia: endosymbiont of onchocercid nematodes and their vectors

2021 ◽  
Vol 14 (1) ◽  
Author(s):  
Ranju Ravindran Santhakumari Manoj ◽  
Maria Stefania Latrofa ◽  
Sara Epis ◽  
Domenico Otranto
Keyword(s):  
Control Strategies ◽  
Molecular Data ◽  
Scientific Data ◽  
Growth And Survival ◽  
Vector Borne Diseases ◽  
Wide Range ◽  
Veterinary Importance ◽  
Wolbachia Endosymbiont ◽  
Vector Borne ◽  
And Control

Abstract Background Wolbachia is an obligate intracellular maternally transmitted, gram-negative bacterium which forms a spectrum of endosymbiotic relationships from parasitism to obligatory mutualism in a wide range of arthropods and onchocercid nematodes, respectively. In arthropods Wolbachia produces reproductive manipulations such as male killing, feminization, parthenogenesis and cytoplasmic incompatibility for its propagation and provides an additional fitness benefit for the host to protect against pathogens, whilst in onchocercid nematodes, apart from the mutual metabolic dependence, this bacterium is involved in moulting, embryogenesis, growth and survival of the host. Methods This review details the molecular data of Wolbachia and its effect on host biology, immunity, ecology and evolution, reproduction, endosymbiont-based treatment and control strategies exploited for filariasis. Relevant peer-reviewed scientic papers available in various authenticated scientific data bases were considered while writing the review. Conclusions The information presented provides an overview on Wolbachia biology and its use in the control and/or treatment of vectors, onchocercid nematodes and viral diseases of medical and veterinary importance. This offers the development of new approaches for the control of a variety of vector-borne diseases. Graphic Abstract

scholarly journals User-centred design of humanoid robots’ communication

2020 ◽  
Vol 12 (1) ◽  
pp. 58-73
Author(s):  
Sofia Thunberg ◽  
Tom Ziemke
Keyword(s):  
Mental Models ◽  
Participatory Design ◽  
Humanoid Robot ◽  
State Of The Art ◽  
Design Method ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Design Concepts ◽  
Design Ideas

AbstractInteraction between humans and robots will benefit if people have at least a rough mental model of what a robot knows about the world and what it plans to do. But how do we design human-robot interactions to facilitate this? Previous research has shown that one can change people’s mental models of robots by manipulating the robots’ physical appearance. However, this has mostly not been done in a user-centred way, i.e. without a focus on what users need and want. Starting from theories of how humans form and adapt mental models of others, we investigated how the participatory design method, PICTIVE, can be used to generate design ideas about how a humanoid robot could communicate. Five participants went through three phases based on eight scenarios from the state-of-the-art tasks in the RoboCup@Home social robotics competition. The results indicate that participatory design can be a suitable method to generate design concepts for robots’ communication in human-robot interaction.

Sign in / Sign up

Export Citation Format

Share Document