67 research outputs found
Evolution of humanoid robot and contribution of various countries in advancing the research and development of the platform
A human like autonomous robot which is capable to adapt itself with the changing of its environment and continue to reach its goal is considered as Humanoid Robot. These characteristics differs the Android from the other kind of robots. In recent years there has been much progress in the development of Humanoid and still there are a lot of scopes in this field. A number of research groups are interested in this area and trying to design and develop a various platforms of Humanoid based on mechanical and biological concept. Many researchers focus on the designing of lower torso to make the Robot navigating as like as a normal human being do. Designing the lower torso which includes west, hip, knee, ankle and toe, is the more complex and more challenging task. Upper torso design is another complex but interesting task that includes the design of arms and neck. Analysis of walking gait, optimal control of multiple motors or other actuators, controlling the Degree of Freedom (DOF), adaptability control and intelligence are also the challenging tasks to make a Humanoid to behave like a human. Basically research on this field combines a variety of disciplines which make it more thought-provoking area in Mechatronics Engineering. In this paper a various platforms for Humanoid Robot development are identified and described based on the evolutionary research on robotics. The paper also depicts a virtual map of humanoid platform development from the ancient time to present time. It is very important and effective to analyze the development phases of androids because of its Business, Educational and Research value. Basic comparisons between the different designs of Humanoid Structures are also analyzed in this paper. ©ICROS
Study on a bipedal walking robot that adapts to real-world obstacles and changing terrains
制度:新 ; 報告番号:甲3056号 ; 学位の種類:博士(工学) ; 授与年月日:2010/3/15 ; 早大学位記番号:新531
Mechanical design of small-size humanoid robot TWNHR-3
[[abstract]]In this paper, a mechanical structure with 26 DOFs (degrees of freedom) is proposed so that an implemented small-size humanoid robot named TWNHR-3 is able to accomplish the man-like walking motion. The height and weight of the implemented robot is 46 cm and 3.1 kg, respectively. There are 2 DOFs on the head, 2 DOFs on the trunk, 4 DOFs on each arm, and 7 DOFs on each leg. Some basic walking experiments of TWNHR-3 are presented to illustrate that the proposed mechanical structure lets the robot move forward, turn, and slip effectively.[[conferencetype]]國際[[conferencedate]]20071105~20071108[[iscallforpapers]]Y[[conferencelocation]]Taipei, Taiwa
Assessment of Society\u27s Awareness, Acceptance, and Demand for Robotic Wait Staff in Restaurant Operations
This research study consists of an assessment of participants\u27 awareness of robotics in general and also their acceptance and consumer demand for mobile, humanoid robots in the role of robotic waiters in restaurants. The study also includes the awareness and consumer demand for Microsoft Surface Computers to be potentially used as restaurant tables capable of electronic order entry, payment, and entertainment. The social impacts of such high technology upon the human occupation of waiter or waitress were also examined relative to the resistance to automation from current human wait staff. The overall results of the study were luke-warm demand for robotic waiters, strong demand for Microsoft Surface Computers, and resistance to robotic waiters among most wait staff
Desenvolvimento de comportamentos para robô humanoide
Mestrado em Engenharia de Computadores e TelemáticaHumanoid robotics is an area of active research. Robots with human body
are better suited to execute tasks in environments designed for humans.
Moreover, people feel more comfortable interacting with robots that have
a human appearance. RoboCup encourages robotic research by promoting
robotic competitions. One of these competitions is the Standard Platform
League (SPL) in which humanoid robots play soccer. The robot used is
the Nao robot, created by Aldebaran Robotics. The di erence between
the teams that compete in this league is the software that controls the robots.
Another league promoted by RoboCup is the 3D Soccer Simulation
League (3DSSL). In this league the soccer game is played in a computer
simulation. The robot model used is also the one of the Nao robot. However,
there are a few di erences in the dimensions and it has one more
Degree of Freedom (DoF) than the real robot. Moreover, the simulator
cannot reproduce reality with precision. Both these leagues are relevant
for this thesis, since they use the same robot model. The objective of this
thesis is to develop behaviors for these leagues, taking advantage of the
previous work developed for the 3DSSL. These behaviors include the basic
movements needed to play soccer, namely: walking, kicking the ball, and
getting up after a fall. This thesis presents the architecture of the agent
developed for the SPL, which is similar to the architecture of the FC Portugal
team agent from the 3DSSL, hence allowing to port code between both
leagues easily. It was also developed an interface that allows to control a
leg in a more intuitive way. It calculates the joint angles of the leg, using
the following parameters: three angles between the torso and the line connecting
hip and ankle; two angles between the foot and the perpendicular
of the torso; and the distance between the hip and the ankle. It was also
developed an algorithm to calculate the three joint angles of the hip that
produce the desired vertical rotation, since the Nao robot does not have a
vertical joint in the hip. This thesis presents also the behaviors developed
for the SPL, some of them based on the existing behaviors from the 3DSSL.
It is presented a behavior that allows to create robot movements by de ning
a sequence of poses, an open-loop omnidirectional walking algorithm, and
a walk optimized in the simulator adapted to the real robot. Feedback was
added to this last walk to make it more robust against external disturbances.
Using the behaviors presented in this thesis, the robot achieved a forward
velocity of 16 cm/s, a lateral velocity of 6 cm/s, and rotated at 40 deg/s.
The work developed in this thesis allows to have an agent to control the
Nao robot and execute the basic low level behaviors for competing in the
SPL. Moreover, the similarities between the architecture of the agent for
the SPL with that of the agent from the 3DSSL allow to use the same high
level behaviors in both leagues.A robótica humanoide é uma área em ativo desenvolvimento. Os robôs com
forma humana estão melhor adaptados para executarem tarefas em ambientes
desenhados para humanos. Além disso, as pessoas sentem-se mais
confortáveis quando interagem com robôs que tenham aparência humana.
O RoboCup incentiva a investigação na área da robótica através da realização de competições de robótica. Uma destas competições é a Standard
Platform League (SPL) na qual robôs humanoides jogam futebol. O robô
usado é o robô Nao, criado pela Aldebaran Robotics. A diferença entre as
equipas que competem nesta liga está no software que controla os robôs.
Outra liga presente no RoboCup é a 3D Soccer Simulation League (3DSSL).
Nesta liga o jogo de futebol é jogado numa simulação por computador. O
modelo de robô usado é também o do robô Nao. Contudo, existem umas
pequenas diferenças nas dimensões e este tem mais um grau de liberdade do
que o robô real. O simulador também não consegue reproduzir a realidade
com perfeição. Ambas estas ligas são importantes para esta dissertação,
pois usam o mesmo modelo de robô. O objectivo desta dissertação é desenvolver
comportamentos para estas ligas, aproveitando o trabalho prévio
desenvolvido para a 3DSSL. Estes comportamentos incluem os movimentos
básicos necessários para jogar futebol, nomeadamente: andar, chutar a bola
e levantar-se depois de uma queda. Esta dissertação apresenta a arquitetura
do agente desenvolvida para a SPL, que é similar á arquitetura do agente
da equipa FC Portugal da 3DSSL, para permitir uma mais fácil partilha de
código entre as ligas. Foi também desenvolvida uma interface que permite
controlar uma perna de maneira mais intuitiva. Ela calcula os ângulos das
juntas da perna, usando os seguintes parâmetros: três ângulos entre o torso
e a linha que une anca ao tornozelo; dois ângulos entre o pé e a perpendicular
do torso; e a distância entre a anca e o tornozelo. Nesta dissertação foi
também desenvolvido um algoritmo para calcular os três ângulos das juntas
da anca que produzam a desejada rotação vertical, visto o robô Nao não
ter uma junta na anca que rode verticalmente. Esta dissertação também
apresenta os comportamentos desenvolvidos para a SPL, alguns dos quais
foram baseados nos comportamentos já existentes na 3DSSL. É apresentado
um modelo de comportamento que permite criar movimentos para o robô
de nindo uma sequência de poses, um algoritmo para um andar open-loop e
omnidirecional e um andar otimizado no simulador e adaptado para o robô
real. A este último andar foi adicionado um sistema de feedback para o
tornar mais robusto. Usando os comportamentos apresentados nesta dissertação, o robô atingiu uma velocidade de 16 cm/s para frente, 6 cm/s para
o lado e rodou sobre si pr oprio a 40 graus/s. O trabalho desenvolvido nesta
dissertação permite ter um agente que controle o robô Nao e execute os
comportamentos básicos de baixo nível para competir na SPL. Além disso,
as semelhan cas entre a arquitetura do agente para a SPL com a arquitetura
do agente da 3DSSL permite usar os mesmos comportamentos de alto nível
em ambas as ligas
Robonaut Mobile Autonomy: Initial Experiments
A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use
Robot learning of everyday object manipulations via human demonstration
We deal with the problem of teaching a robot to manipulate everyday objects through human demonstration. We first design a task descriptor which encapsulates important elements of a task. The design originates from observations that manipulations involved in many everyday object tasks can be considered as a series of sequential rotations and translations, which we call manipulation primitives. We then propose a method that enables a robot to decompose a demonstrated task into sequential manipulation primitives and construct a task descriptor. We also show how to transfer a task descriptor learned from one object to similar objects. In the end, we argue that this framework is highly generic. Particularly, it can be used to construct a robot task database that serves as a manipulation knowledge base for a robot to succeed in manipulating everyday objects
Recommended from our members
Robot learning of everyday object manipulations via human demonstration
We deal with the problem of teaching a robot to manipulate everyday objects through human demonstration. We first design a task descriptor which encapsulates important elements of a task. The design originates from observations that manipulations involved in many everyday object tasks can be considered as a series of sequential rotations and translations, which we call manipulation primitives. We then propose a method that enables a robot to decompose a demonstrated task into sequential manipulation primitives and construct a task descriptor. We also show how to transfer a task descriptor learned from one object to similar objects. In the end, we argue that this framework is highly generic. Particularly, it can be used to construct a robot task database that serves as a manipulation knowledge base for a robot to succeed in manipulating everyday objects
- …