Core-centered Actuation for Biped Locomotion of Humanoid Robots

2020 ◽  
Author(s):  
Caleb Fuller ◽  
Umer Huzaifa ◽  
Amy LaViers ◽  
Joshua Schultz
Keyword(s):  
Humanoid Robots ◽  
Biped Locomotion

Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion—Theory and experiments

Robotica ◽  
2008 ◽  
Vol 26 (2) ◽  
pp. 157-175 ◽  
Author(s):  
Aleksandar Rodić ◽  
Miomir Vukobratović ◽  
Khalid Addi ◽  
Georges Dalleau
Keyword(s):  
Mathematical Modeling ◽  
Human Subject ◽  
Humanoid Robots ◽  
Linear Complementarity ◽  
Contact Dynamics ◽  
Impact Dynamics ◽  
Experimental Measurements ◽  
Biped Locomotion ◽  
Real Motion ◽  
Theory And Experiments

SUMMARYThis paper suggests a generalized approach to the mathematical modeling of biped locomotion systems (humans or humanoid robots) with special attention paid to impact and contact dynamics. Instead of the usual inductive approach that starts from the analysis of different situations of real motion (walking, running, jumping, climbing the stairs, etc.) and tries to make a generalization, a deductive approach is pursued, whereby an entirely general problem is considered. Impact dynamics is modeled applying the linear complementarity problem (LCP) formulation. General methodology is explained and demonstrated via the synthesis of a spatial biped model. The validity of the modeling approach is proved by experimental measurements on a human subject in the laboratory conditions. Plenty of graphic presentations illustrating experimental results, as well as the results of the corresponding simulation tests are shown.

INNOVATIVE FOOT PRESSURE SENSOR DESIGN FOR HUMANOID ROBOTS

2019 ◽  
Author(s):  
FRANCISCO ARTHUR BONFIM AZEVEDO ◽  
Daniela Vacarini de Faria ◽  
Marcos Maximo ◽  
Mauricio Donadon
Keyword(s):  
Pressure Sensor ◽  
Humanoid Robots ◽  
Sensor Design ◽  
Foot Pressure

Lovotics

2017 ◽  
Author(s):  
Adrian David Cheok ◽  
Kasun Karunanayaka ◽  
Emma Yann Zhang
Keyword(s):  
Science Fiction ◽  
Intimate Relationships ◽  
Intelligent Systems ◽  
Humanoid Robots ◽  
Legal Issues ◽  
Sex Communication ◽  
Ethical And Legal Issues ◽  
Recent Activity ◽  
Academic Area ◽  
Robot Companions

Intimate relationships, such as love and sex, between human and machines, especially robots, has been one of the themes of science fiction. However, this topic has never been treated in the academic area until recently. It was first raised and discussed by David Levy in his book Love and Sex with Robotics (2007). Since then, researchers have come up with many implementations of robot companions, like sex robots, emotional robots, humanoid robots, and artificial intelligent systems that can simulate human emotions. This chapter presents a summary of significant recent activity in this field, predicts how the field is likely to develop, and discusses ethical and legal issues. We also discuss our research in physical devices for human–robot love and sex communication.

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.

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