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Controlling humanoid robots in topology coordinates
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This paper presents an approach to the control of humanoid robot motion, e.g., holding another robot or tangled interactions involving multiple limbs, in a space defined by 'topology coordinates'. ...
We demonstrate the utility of this approach using the simulator for the Nao humanoid robot. We show that this approach enables us to synthesize complex motion, such as tangling, very efficiently. ...
Controlling the Humanoid Robots in Topology Coordinates We first represent the skeletal structure of a humanoid robot by a set of line segments. ...
doi:10.1109/iros.2010.5652787
dblp:conf/iros/HoKRV10
fatcat:jbqeqmfglne67pmqgm3y6tzylm
The Implementation of Consensus Algorithm on a Group of Humanoid Robots with Varying Network Topologies
2014
International Journal on Electrical Engineering and Informatics
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The experiment in this work is based on some previous works on distributed control of robotic networks and distributed consensus in multi-vehicle cooperative control. ...
This research concludes that consensus in a group of humanoid robot can be achieved by inducing damping variable in original equation. ...
The humanoid robot used in this experiment is NAO H-25, a 25 degree of freedom (DoF) humanoid robot made by Aldebaran Robotics, France. ...
doi:10.15676/ijeei.2014.6.4.8
fatcat:bkuimvzckvcmbe337yzqungija
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
[article]
2018
arXiv
pre-print
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For this, we represent global properties of the robot-human interaction with topology-based coordinates that are computed from arm and torso positions. ...
These coordinates also allow transferring the learned policy to other body shapes and sizes. ...
Similar to these works, we employ topology-based coordinates and aim to maximize the linking value between the robot and the person to reach a starting pose for transport. ...
arXiv:1809.04322v1
fatcat:guqjve3wr5aipkxjrlxpntop64
Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model
2015
Journal of Mechatronics, Electrical Power, and Vehicular Technology
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This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. ...
This research is trying to implement the avoidance terms in SFM into robot's behavior. ...
ACKNOWLEDGEMENT The authors would like to thank to Advanced Robotic Laboratory at School of Electronic Engineering and Informatics, Institut Teknologi Bandung for providing all robots and facilities for ...
doi:10.14203/j.mev.2015.v6.67-74
fatcat:ki5carc2ovhmxn3e3j3fyqyo5i
Topological duality in humanoid robot dynamics
2001
ANZIAM journal (Print)
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It is established all four topological structures give in essence the same description of humanoid dynamics. ...
In this paper, dual invariant topological structures are constructed and analyzed on the finite-dimensional manifolds associated with the humanoid motion. ...
Conclusion In this article the four invariant topological structures founded on the configuration manifold of the humanoid robot dynamics are analyzed. ...
doi:10.1017/s144618110001302x
fatcat:axpodzv7ubdynidlkbuk46pmmi
Motion adaptation for humanoid robots in constrained environments
2013
2013 IEEE International Conference on Robotics and Automation
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This paper presents a new method to synthesize full body motion for controlling humanoid robots in highly constrained environments. ...
Our method can be applied in precise robotic controls under complicated environments, such as rescue robots in accident scenes and searching robots in highly constrained spaces. ...
Chris Blythe for his help in producing the demonstration video. This work was partially supported by the Hong Kong Baptist University RC start-up research grant. ...
doi:10.1109/icra.2013.6631113
dblp:conf/icra/HoS13
fatcat:wjx74km3ojb3pjd6gcy7npe7xe
System Dynamics Modeling and Intelligent Tracking Control Based on Wireless Sensor Networks for Robot
2013
Sensors & Transducers
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In order to improve robot arm intelligent tracing control accuracy and make the robot move in the environment autonomously, the robot must be capable of calculating its pose, the nominal system dynamics ...
Pose localization problem is a key researching domain in the mobile robot community and get much attention around the world. ...
Humanoid robot is mainly composed of the mechanical arm, hand, clever eyes, waist and shoulder humanoid walking leg [3] humanoid components. ...
doaj:9c2925bc7ef44b0394132cae6a8f7850
fatcat:du5uzwtu6zd6nblagrztlsgdpa
Neural Network Control of Humanoid Robot
휴머노이드 로봇의 뉴럴네트워크 제어
2010
Journal of Institute of Control Robotics and Systems
휴머노이드 로봇의 뉴럴네트워크 제어
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This paper handles ZMP based control that is inspired by neural networks for humanoid robot walking on varying sloped surfaces. ...
In this paper, experiments of humanoid robot walking are carried out, in which the actual position data from a prototype robot are measured in real time situations, and fed into a neural network inspired ...
This is a key point in the control of ASIMO [6] , a 26-DOF humanoid robot developed by Honda Motor Company in 2000. ...
doi:10.5302/j.icros.2010.16.10.963
fatcat:q3c4rgig5jbepla2uwygmoyeru
Pivoting based manipulation by humanoids: a controllability analysis
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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In this paper we aim to show that a polyhedral object can be displaced to arbitrary position and orientation on a plane (i.e. such a pivoting system is controllable). ...
As a consequence of this analysis, we propose a steering method to plan a manipulation path to be performed by a humanoid robot: first we use a classical nonholonomic path planner that accounts for the ...
As shown in Fig. 1 , we have successfully implemented a pivoting manipulation using a humanoid robot [2] . ...
doi:10.1109/iros.2007.4399212
dblp:conf/iros/YoshidaPLAY07
fatcat:j7nonqeajfanjltctuzmqh3yyu
State Classification for Humanoid Robots
2008
Applied Bionics and Biomechanics
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In this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. ...
The results show that the large amounts of states can be described using assigned names, which leads to systematic and universal description of the states for humanoid robots. ...
to coordinate systems. ...
doi:10.1155/2008/732364
fatcat:jezl66mmjngxjkaopuew44qqoi
Associative Motion Generation for Humanoid Robot Reflecting Human Body Movement
2012
International Journal of Fuzzy Logic and Intelligent Systems
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In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. ...
In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. ...
In this paper, we propose the real-time robot control system based on AMG, that enables user to intuitively control humanoid robot motion by human body movement. ...
doi:10.5391/ijfis.2012.12.2.121
fatcat:366c3jvly5adhpbltyj2nfgunu
Development of a New 2 DOF Lightweight Wrist for the Humanoid Robot ARMAR
[chapter]
2010
Advances in Robot Manipulators
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In order to enable a robot to interact with humans, high standards are set for sensors and control of its movements. ...
The Humanoid Robot ARMAR The collaborative research centre 588 "Humanoid Robots -learning and cooperating multimodal robots" was established by the "Deutsche Forschungsgemeinschaft" (DFG) in Karlsruhe ...
Advances in Robot Manipulators The purpose of this volume is to encourage and inspire the continual invention of robot manipulators for science and the good of humanity. ...
doi:10.5772/9544
fatcat:zmudazvno5ehzbh4fn6uxvjttq
Action Planning and Design of Humanoid Robot Based on Sports Analysis in Digital Economy Era
2022
International Journal of Multimedia Computing
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Humanoid robot is one of the most active research hotspots in the field of intelligent robot because of its unique walking mode. ...
In this study, the motion mode of the robot is generated based on the analysis of human sports movement, and the stability of its gait is controlled based on the ZMP control strategy, and the stable walking ...
So in the future, robots may be out of human control and smarter than humans, so some humanoid robot researchers have such concerns. ...
doi:10.38007/ijmc.2022.030106
fatcat:gpktid3mqzbpfff3eckkf4trey
Multi-constrained motion planning of a planar type humanoid using kinematic redundancy
2007
2007 International Conference on Control, Automation and Systems
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In this paper, we introduces a new motion planning algorithm for a multi-constrained planar type humanoid robot, which exploits "redundant degrees of freedom" of the whole-body humanoid structure. ...
The feasibility of the proposed algorithm is verified by simulating a sawing motion for a planar humanoid model. ...
The motion control and the whole body coordination (control) with good performance have been the core parts in implementing the stable humanoid motion. ...
doi:10.1109/iccas.2007.4407098
fatcat:ysigvrk4pjdufjzgmwo45yq2j4
Dynamics and Control of Humanoid Robots: A Geometrical Approach
[article]
2011
arXiv
pre-print
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his paper reviews modern geometrical dynamics and control of humanoid robots. ...
Keywords: Humanoid robots, Lagrangian and Hamiltonian formalisms, neural-like humanoid control, time-dependent biodynamics ...
This implies more complex kinematics, dynamics and control than in the case of humanoid robots [3] . This paper reviews modern geometrical approaches to humanoid robot's dynamics and control. ...
arXiv:1105.2951v1
fatcat:oykmqzpht5fgnd6mlkv7few3wy
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