Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

Vođenje hodajućeg robota u strukturiranom prostoru zasnovano na računalnome vidu

Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.Lokomocija dvonožnog robota u prostoru s preprekama zahtijeva visoki stupanj koordinacije između percepcije i hodanja. U članku se opisuju ključne postavke strategije vođenja hodajućih robota zasnovane na računalnome vidu. Tehnike računalnoga vida primijenjene za reaktivnu adaptaciju slijeda koraka omogućuju robotu zaobilaženje prepreka, ali i njihovo prekoračivanje te penjanje na njih. Visoka točnost povratne informacije postignuta je kombinacijom analize linijskih segmenata u sceni i praćenjem značajki scene u stvarnome vremenu. Predloženi je sustav vođenja hodajućih robota eksperimentalno provjeren na stvarnome čovjekolikome robotu