BALANCING STRATEGY USING THE PRINCIPLE OF ENERGY CONSERVATION FOR A HOPPING HUMANOID ROBOT

2013 ◽  
Vol 10 (03) ◽  
pp. 1350020 ◽  
Author(s):  
BAEK-KYU CHO ◽  
JUNG-HOON KIM ◽  
JUN-HO OH
Keyword(s):  
Energy Conservation ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
The Other ◽  
Human Environment ◽  
Landing Position ◽  
The Future ◽  
Position Controller ◽  
Principle Of Energy Conservation ◽  
Small Disturbances

Even though many humanoid robots have been developed and they have locomotion ability, their balancing ability is not sufficient. In the future, humanoid robots will work and act within the human environment. At that time, the humanoid robot will be exposed to various disturbances. This paper proposes a balancing strategy for hopping humanoid robots against various magnitude of disturbance. The proposed balancing strategy for a hopping humanoid robot consists of two controllers, the posture balance controller and the landing position controller. The posture balance controller is used for small disturbances, and its role is to maintain stability by controlling the ankle torque of the robot. On the other hand, if disturbance is large, the landing position controller, which changes the landing position of the swing foot, works with the posture balance controller simultaneously. In this way, the landing position controller reduces large disturbances, and the posture balance controller controls the remaining disturbances. The landing position controller is derived by the principle of energy conservation. An experiment conducted with a real humanoid robot, HUBO2, verifies the proposed method. HUBO2 made a stable and continuous hopping action with the proposed balancing strategy overcoming various disturbances placed in the way of the robot.

scholarly journals Nimbro-OP2X: Affordable Adult-Sized 3D-Printed Open-Source Humanoid Robot for Research

2020 ◽  
Vol 17 (05) ◽  
pp. 2050021
Author(s):  
Grzegorz Ficht ◽  
Hafez Farazi ◽  
Diego Rodriguez ◽  
Dmytro Pavlichenko ◽  
Philipp Allgeuer ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Human Perception ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Production Costs ◽  
Entry Barrier ◽  
Human Environment ◽  
Acquisition Costs ◽  
3D Printed ◽  
Minimal Effort

For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots, whose acquisition costs are significantly lower. However, due to scale differences and imperfect simulation replicability, results may not be directly reproducible on real, adult-sized robots. In this paper, we present the NimbRo-OP2X, a capable and affordable adult-sized humanoid platform aiming to significantly lower the entry barrier for humanoid robot research. With a height of 135[Formula: see text]cm and weight of only 19[Formula: see text]kg, the robot can interact in an unmodified, human environment without special safety equipment. Modularity in hardware and software allows this platform enough flexibility to operate in different scenarios and applications with minimal effort. The robot is equipped with an on-board computer with GPU, which enables the implementation of state-of-the-art approaches for object detection and human perception demanded by areas such as manipulation and human–robot interaction. Finally, the capabilities of the NimbRo-OP2X, especially in terms of locomotion stability and visual perception, are evaluated. This includes the performance at RoboCup 2018, where NimbRo-OP2X won all possible awards in the AdultSize class.

scholarly journals Emotion based human-robot interaction

2018 ◽  
Vol 161 ◽  
pp. 01001 ◽  
Author(s):  
Karsten Berns ◽  
Zuhair Zafar
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Verbal Communication ◽  
Human Robot Interaction ◽  
The Other ◽  
Robot Interaction ◽  
Human Machine Interaction ◽  
Verbal Cues ◽  
Perception System ◽  
Machine Interaction

Human-machine interaction is a major challenge in the development of complex humanoid robots. In addition to verbal communication the use of non-verbal cues such as hand, arm and body gestures or mimics can improve the understanding of the intention of the robot. On the other hand, by perceiving such mechanisms of a human in a typical interaction scenario the humanoid robot can adapt its interaction skills in a better way. In this work, the perception system of two social robots, ROMAN and ROBIN of the RRLAB of the TU Kaiserslautern, is presented in the range of human-robot interaction.

Humanoid Robot RGB-D SLAM in the Dynamic Human Environment

2020 ◽  
Vol 17 (02) ◽  
pp. 2050009
Author(s):  
Tianwei Zhang ◽  
Yoshihiko Nakamura
Keyword(s):  
Humanoid Robot ◽  
Dynamic Environment ◽  
Point Clouds ◽  
Humanoid Robots ◽  
Human Environment ◽  
The Public ◽  
Visual Sensing ◽  
Working Space ◽  
Localization And Mapping ◽  
Fusion Framework

Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as moving obstacles and targets in humanoid robots working space. Thus, in this paper, we propose a robust dense RGB-D SLAM approach for the humanoid robots working in the dynamic human environments. To deal with the dynamic human objects, a deep learning-based human detector is combined in the proposed method. After the removal of the dynamic object, we fast reconstruct the static environments through a dense RGB-D point clouds fusion framework. In addition to the humanoid robot falling problem, which usually results in visual sensing discontinuities, we propose a novel point clouds registration-based method to relocate the robot pose. Therefore, our robot can continue the self localization and mapping after the falling. Experimental results on both the public benchmarks and the real humanoid robot SLAM experiments indicated that the proposed approach outperformed state-of-the-art SLAM solutions in dynamic human environments.

scholarly journals Humanoid robots are perceived as an evolutionary threat

2021 ◽  
Author(s):  
Zhengde Wei ◽  
Ying Chen ◽  
Jiecheng Ren ◽  
Yi Piao ◽  
Pengyu Zhang ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Negative Attitude ◽  
Visual Pathway ◽  
Humanoid Robots ◽  
Implicit Attitude ◽  
Amygdala Activation ◽  
The Future ◽  
Amygdala Response ◽  
Social Encounters ◽  
Future Direction

In the grand challenges of successful social encounters with socially sophisticated robots and shaping the future development of robots in socially acceptable ways, we need to quantify people perception to the robots. The critical assumption at the perception to humanoid robots, namely that people perceive humanoid robots as an evolutionary threat, has not been directly confirmed. We assume the existence of behavioral and neural automaticity for humanoid robots that were previously only evident for evolutionary threats. Here, we observed a monocular advantage for the perception of humanoid robots the same as an evolutionary threat (i.e., snakes). Our neuroimaging analysis indicated that unconscious presentation of humanoid robot vs. human images led to significant left amygdala activation that was associated with negative implicit attitude to humanoid robots. After successfully weakening negative attitude, the left amygdala response to unconscious presentation of humanoid robot images decreased, and the decrease of left amygdala response was positively associated with the decrease of negative attitude. Our results reveal that processing of information about humanoid robots displays automaticity with regard to recruitment of visual pathway and amygdala activation. Our findings that humans may perceive humanoid robots as an evolutionary threat will guide the future direction of robots development and bring us closer to interacting with socially sophisticated robots.

scholarly journals BALANCE MOTION PLANNING FOR HUMANOID ROBOT BASED ON 3D INVERTED PENDULUM MODEL

2022 ◽  
Vol 36 (06) ◽  
Author(s):  
DUONG MIEN KA ◽  
TRAN HUU TOAN
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
The Other ◽  
Three Dimension ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Researches on humanoid robots are alway attractive to many researchers in robotics field. One  of considerable challenges of humanoid robots is to keep balance and stability of their movement. Because a humanoid robot moves by two legs, most of time of the step period of the humanoid robot is be in one leg touching on the floor and the other leg swinging forward. This posture is similar to a three dimension (3D) inverted pendulum model. This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements

On the role of the dispute between "non-possessors" and "Josephites" in the culture of Moscow's prediction

1998 ◽  
pp. 61-62
Author(s):  
N. S. Jurtueva
Keyword(s):  
The Other ◽  
Moral Transformation ◽  
15Th Century ◽  
The Future ◽  
Secular Power

In the XIV century. centripetal tendencies began to appear in the Moscow principality. Inside the Russian church, several areas were distinguished. Part of the clergy supported the specificobar form. The other understood the need for transformations in society. As a result, this led to a split in the Russian church in the 15th century for "non-possessors" and "Josephites". The former linked the fate of the future with the ideology of hesychasm and its moral transformation, while the latter sought support in alliance with a strong secular power.

‘Newness which never perishes’? Schoenberg’s ambivalent reception of Haydn

2010 ◽  
Vol 51 (1-2) ◽  
pp. 215-224
Author(s):  
Alexander Carpenter
Keyword(s):  
The Other ◽  
Major Influence ◽  
Musical Style ◽  
The Past ◽  
Other Hand ◽  
The Future ◽  
Music Tradition

This paper explores Arnold Schoenberg’s curious ambivalence towards Haydn. Schoenberg recognized Haydn as an important figure in the German serious music tradition, but never closely examined or clearly articulated Haydn’s influence and import on his own musical style and ethos, as he did with many other major composers. This paper argues that Schoenberg failed to explicitly recognize Haydn as a major influence because he saw Haydn as he saw himself, namely as a somewhat ungainly, paradoxical figure, with one foot in the past and one in the future. In his voluminous writings on music, Haydn is mentioned by Schoenberg far less frequently than Bach, Mozart, or Beethoven, and his music appears rarely as examples in Schoenberg’s theoretical texts. When Schoenberg does talk about Haydn’s music, he invokes — with tacit negativity — its accessibility, counterpoising it with more recondite music, such as Beethoven’s, or his own. On the other hand, Schoenberg also praises Haydn for his complex, irregular phrasing and harmonic exploration. Haydn thus appears in Schoenberg’s writings as a figure invested with ambivalence: a key member of the First Viennese triumvirate, but at the same time he is curiously phantasmal, and is accorded a peripheral place in Schoenberg’s version of the canon and his own musical genealogy.

PENYELESAIAN SENGKETA PEMILU AKIBAT PENGGELEMBUNGAN SUARA DI KABUPATEN TAPIN

2015 ◽  
Vol 1 (1) ◽  
Author(s):  
Gusti Muhammad Ihsan Perdana
Keyword(s):  
Time Trial ◽  
General Election ◽  
The Other ◽  
District Court ◽  
Criminal Trials ◽  
Criminal Offense ◽  
Criminal Charge ◽  
The Future ◽  
The Republic ◽  
Legislative Election

 Legislative election in distric Tapin was spotted with a vote, conducted by members of the Commission, M. Zainnoor Wal Aidi Rahmad win a legislative candidate from the Golkar Party, namely Bambang Herry Purnama the 2014-2019. Elections Honorary Council for General Election Organizer of the Republic of Indonesia as No. 15 / DKPP-PKE-III / 2014 has imposed sanctions on Zainnoor Wal Aidi M. Rahmad form of dismissal remain as a member of the Tapin district Elections Commission since the verdict was read. Rantau’s District Court in its decision No. 135 / Pid-Sus /2014/PN.Rta, Bringing the sanctions in the form of imprisonment for 10 months with the criminal provisions do not need to be run in the future unless is another command in the verdict that convicted before time trial during the 12 (twelve months) ends have been guilty of a criminal offense and a fine of Rp. 10,000,000.00 (ten million). Dismissal sanctions remain to perpetrators as member of the district KPU Tapin have sense of fairness, but the connection with the criminal charge of criminal trials less reflectjustice for his actions that allow offenders not sentenced to imprisonment and the other party can not do the same.Keywords: Elections Tapin distric, Inflation Voice, Sanctions

JUAL BELI TANAH YANG DILAKUKAN TANPA AKTA PPAT

2018 ◽  
Vol 4 (1) ◽  
pp. 89-107
Author(s):  
Cheri Bayuni Budjang
Keyword(s):  
Everyday Life ◽  
Government Regulation ◽  
Land Rights ◽  
The Other ◽  
Legal Certainty ◽  
Land Registration ◽  
The Future ◽  
The Right ◽  
Laws And Regulations

Buying and selling is a way to transfer land rights according to the provisions in Article 37 paragraph (1) of Government Regulation Number 24 of 1997 concerning Land Registration which must include the deed of the Land Deed Making Official to register the right of land rights (behind the name) to the Land Office to create legal certainty and minimize the risks that occur in the future. However, in everyday life there is still a lot of buying and selling land that is not based on the laws and regulations that apply, namely only by using receipts and trust in each other. This is certainly very detrimental to both parties in the transfer of rights (behind the name), especially if the other party is not known to exist like the Case in Decision Number 42 / Pdt.G / 2010 / PN.Mtp

Basic Concepts and Definitions of Allergology

2019 ◽  
Author(s):  
Zoran Vrucinic
Keyword(s):  
Immune Reaction ◽  
The Body ◽  
The Other ◽  
Specific Response ◽  
Other Hand ◽  
Medical Vocabulary ◽  
The Future ◽  
Basic Concepts ◽  
Basic Insight ◽  
Insight Into

The future of medicine belongs to immunology and alergology. I tried to not be too wide in description, but on the other hand to mention the most important concepts of alergology to make access to these diseases more understandable, logical and more useful for our patients, that without complex pathophysiology and mechanism of immune reaction,we gain some basic insight into immunological principles. The name allergy to medicine was introduced by Pirquet in 1906, and is of Greek origin (allos-other + ergon-act; different reaction), essentially representing the reaction of an organism to a substance that has already been in contact with it, and manifested as a specific response thatmanifests as either a heightened reaction, a hypersensitivity, or as a reduced reaction immunity. Synonyms for hypersensitivity are: altered reactivity, reaction, hypersensitivity. The word sensitization comes from the Latin (sensibilitas, atis, f.), which means sensibility,sensitivity, and has retained that meaning in medical vocabulary, while in immunology and allergology this term implies the creation of hypersensitivity to an antigen. Antigen comes from the Greek words, anti-anti + genos-genus, the opposite, anti-substance substance that causes the body to produce antibodies.

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