The Relationship between Contingency and Complexity in a Lifelike Humanoid Robot

2006 ◽  
Author(s):  
Fumitaka Yamaoka ◽  
Takayuki Kanda ◽  
Hiroshi Ishiguro ◽  
Norihiro Hagita
Keyword(s):  
Humanoid Robot ◽  
The Relationship

scholarly journals Humanoid Robot Head Design Based on Uncanny Valley and FACS

2014 ◽  
Vol 2014 ◽  
pp. 1-5 ◽  
Author(s):  
Jizheng Yan ◽  
Zhiliang Wang ◽  
Yan Yan
Keyword(s):  
Intelligent Control ◽  
Humanoid Robot ◽  
Human Robot Interaction ◽  
Human Being ◽  
Uncanny Valley ◽  
Coding System ◽  
Robot Interaction ◽  
Series Of Experiments ◽  
Robot Head ◽  
The Relationship

Emotional robots are always the focus of artificial intelligence (AI), and intelligent control of robot facial expression is a hot research topic. This paper focuses on the design of humanoid robot head, which is divided into three steps to achieve. The first step is to solve the uncanny valley about humanoid robot, to find and avoid the relationship between human being and robot; the second step is to solve the association between human face and robot head; compared with human being and robots, we analyze the similarities and differences and explore the same basis and mechanisms between robot and human analyzing the Facial Action Coding System (FACS), which guides us to achieve humanoid expressions. On the basis of the previous two steps, the third step is to construct a robot head; through a series of experiments we test the robot head, which could show some humanoid expressions; through human-robot interaction, we find people are surprised by the robot head expression and feel happy.

High torque realization of the stepping over gait for a humanoid robot

2020 ◽  
Vol 47 (4) ◽  
pp. 473-487
Author(s):  
Keqiang Bai ◽  
Yunzhi Luo ◽  
Guanwu Jiang ◽  
Guoli Jiang ◽  
Li Guo
Keyword(s):  
Design Methodology ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Stability Margin ◽  
Whole Body ◽  
Dynamics Model ◽  
Content Type ◽  
Body Dynamics ◽  
High Torque ◽  
The Relationship

Purpose This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque. Design/methodology/approach First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles. Findings The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation. Originality/value The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.

Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint

2009 ◽  
Vol 69-70 ◽  
pp. 585-589 ◽  
Author(s):  
Bing Yan Cui ◽  
Zhen Lin Jin
Keyword(s):  
Elbow Joint ◽  
Parallel Mechanism ◽  
Humanoid Robot ◽  
Smooth Boundary ◽  
Evaluation Index ◽  
Vector Method ◽  
Input And Output ◽  
Spherical Parallel Mechanism ◽  
Relationship Of ◽  
The Relationship

The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.

scholarly journals Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR

2018 ◽  
Vol 8 (4) ◽  
pp. 20180015 ◽  
Author(s):  
Maurice Fallon
Keyword(s):  
Humanoid Robot ◽  
Situational Awareness ◽  
Pressure Sensors ◽  
Whole Body ◽  
Walking Robots ◽  
Joint Angles ◽  
State Estimate ◽  
External Forces ◽  
The Relationship ◽  
Frequency State

In this article, we review methods for localization and situational awareness of biped and quadruped robotics. This type of robot is modelled as a free-floating mechanical system subject to external forces and constrained by whole-body distributed rigid contacts. Measurements of the state of the robot can be made using a variety of sensor information—such as kinematics (the sensing of the joint angles of the robot), contact force (pressure sensors in the robot's feet), accelerometers and gyroscopes as well as external sensors such as vision and LIDAR. This high-frequency state estimate is then passed to the control system of the robot to allow it to traverse terrain or manipulate its environment. In this article, we describe the development of an estimator for the Boston Dynamics Atlas humanoid robot. It was later adapted to the HyQ2 quadruped, developed by the Istituto Italiano di Tecnologia. Some discussion is given as to future trends while also considering briefly the relationship with biological systems.

Bionic Integration of the Spherical Parallel Shoulder Joint with the Six-Component Force Sensor

2011 ◽  
Vol 66-68 ◽  
pp. 1225-1230
Author(s):  
Yu Lin Zhou ◽  
Yu Lei Hou ◽  
Xue Song Qiu
Keyword(s):  
Shoulder Joint ◽  
Humanoid Robot ◽  
Force Sensor ◽  
Target Object ◽  
Robot Arm ◽  
Compliant Control ◽  
Self Protection ◽  
The Relationship ◽  
Important Significance ◽  
Component Force

Based on the bionics principle, this paper proposed the idea of bionic design of the spherical parallel shoulder joint integrated with the six-component force sensor. The static analysis of the 3-RRS mechanism, which can be taken as a prototype mechanism of shoulder joint of humanoid robot, was carried out. And the relationship figures between the forces and torques acted on each component and the pose of the mechanism were obtained. The measurement of the external load and driving torques, which was employed to judge operability of arm to the target object under arbitrary pose, was realized by introducing resistance measurement method in the mechanism. The bionic integration of the shoulder joint with six-component force sensor made arm has some functions such as to avoid overload and singular area voluntarily, and realize self-protection. The contents of this paper lay a foundation of compliant control of humanoid robot arm and have important significance and value in engineering.

DYNAMICS MODELING AND SIMULATION OF A KIND OF WHEELED HUMANOID ROBOT BASED ON SCREW THEORY

2012 ◽  
Vol 09 (04) ◽  
pp. 1250029 ◽  
Author(s):  
JINGGUO WANG ◽  
YANGMIN LI
Keyword(s):  
Humanoid Robot ◽  
Screw Theory ◽  
Kinematics And Dynamics ◽  
Variation Principle ◽  
Dynamics Modeling ◽  
Modeling Methodology ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body ◽  
The Relationship

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that represents directly the relationship between the input and the resultant external and inertial wrench. Both the system kinematics and dynamics are derived carefully. The simulations are made to verify the proposed modeling methodology and the simulation results are also compared with the results obtained from the multi-body dynamics software.

GENERATION OF NODDING, HEAD TILTING AND GAZING FOR HUMAN–ROBOT SPEECH INTERACTION

2013 ◽  
Vol 10 (01) ◽  
pp. 1350009 ◽  
Author(s):  
CHAORAN LIU ◽  
CARLOS T. ISHI ◽  
HIROSHI ISHIGURO ◽  
NORIHIRO HAGITA
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Human Robot Interaction ◽  
Head Motion ◽  
Generation Model ◽  
Dialogue Acts ◽  
Proposed Model ◽  
Paralinguistic Information ◽  
Speech Interaction ◽  
The Relationship

Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human–robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, "Geminoid F", a typical humanoid robot with less facial degrees of freedom, "Robovie R2", and a robot with a 3-axis rotatable neck and movable lips, "Telenoid R2"). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions without gaze information. We also find that an upward motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping people's original motions with gaze information in terms of perceived naturalness.

Investigation of Impact Hammering Task of Musical Saw With a Humanoid Robot for Industrial Automation

2018 ◽  
Author(s):  
Yusuke Fuke ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama ◽  
Akira Mishima
Keyword(s):  
Humanoid Robot ◽  
Mathematical Expression ◽  
Feedback System ◽  
Recognition System ◽  
Elastic Stiffness ◽  
Robot Arm ◽  
Percussion Instruments ◽  
Sound Feedback ◽  
The Relationship ◽  
Dual Arm

This study aimed to automate the hammering action and dual arm coordination of a humanoid robot using percussion instruments such as musical saw. In this report, we examined the hammering motion of the robot by using its elastic stiffness, the vibration reduction method of the hitting tool caused by the movement of the robot arm, and dual arm cooperative motion based on hammering sound feedback. The experimental results show that the humanoid robot can play the musical saw without making an S-shaped curve, as performed by humans. By considering these nonlinearities through the mathematical expression of the relationship among frequency, deflection, length of beam, and fulcrum deviation, an arbitrary scale can be generated in the saw. Based on the hammering task and acoustic recognition system, we developed an impact sound feedback system. It was possible to converge to the target frequency of the musical saw through the hammering sound feedback operation.

scholarly journals Surface Electromyographic Control of a Humanoid Robot

2013 ◽  
Author(s):  
Alex W. Grammar ◽  
Robert L. Williams
Keyword(s):  
Open Source ◽  
Elbow Joint ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Source Surface ◽  
Electromyographic Activity ◽  
Angle Measuring ◽  
Human Arm ◽  
The Relationship

This paper details the development of an open-source surface electromyographic interface for controlling 1-DOF for the DARwIn-OP humanoid robot. This work also details the analysis of the relationship between surface electromyographic activity of the Biceps Brachii muscle and the angle of the elbow joint for the pseudo-static unloaded arm case. The human arm was mechanically modeled for a two link system actuated by a single muscle. The SEMG activity was found to be directly proportional to joint angle using a combination of custom joint angle measuring hardware and a surface electromyographic measuring circuit. This relationship allowed for straightforward control of the robot elbow joint directly. The interface was designed around the Arduino Microcontroller; another open-source platform. Software for the Arduino and DARwIn-OP were drawn from open source resources, allowing the entire system to be comprised of open-source components. A final surface electromyographic measuring and signal conditioning circuit was constructed. Data recording and processing software was also coded for the Arduino, thus achieving control of the robotic platform via surface electromyography.

scholarly journals Tactile design of manipulator fingers based on fingertip/textilefriction-induced vibration stimulations

2020 ◽  
Vol 71 (01) ◽  
pp. 28-32
Author(s):  
YANHUI LIU ◽  
GUOQING ZHU ◽  
ZHENGQIN LIU ◽  
XINYI HU ◽  
RUITAO JIANG
Keyword(s):  
Humanoid Robot ◽  
Service Robots ◽  
Frequency Range ◽  
Cutaneous Mechanoreceptors ◽  
Random Match ◽  
Haptic System ◽  
Frequency Space ◽  
Tactile Stimuli ◽  
Robot Systems ◽  
The Relationship

Textile-like soft and flexible products are widely used in our daily life. Understanding the relationship between the tactilesensations of textiles and the tactile stimuli is essential for developing humanoid robot’s finger haptic system, especiallyfor certain kind of robot systems such as service robots and exploratory robots. This paper built a frequency space thatcan qualitatively represent a roughness sensation of textiles by a developing independently random match algorithm incombination with neurophysiological features of cutaneous mechanoreceptors. The experimental results show that thesum of amplitude in frequency range between 18 and 118 Hz can effectively describe the roughness sensory of textilewith accuracies of 98.5%. In other words, by applying the sum of amplitude in frequency range between 18 and 118 Hzcould successfully match roughness sensation of textiles, and it will help engineer of humanoid robot design manipulatorfinger haptic system in textile field.

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