Walking Humanoids for Robotics Research

We present three humanoid robots aimed as platforms for research in robotics, and cognitive development in robotics systems. The 'priscilla' robot is a 180cm full scale humanoid, and the mid-size prototype is called 'elvis' and is about 70cm tall. The smallest size humanoid is the 'elvina' type, about 28 cm tall. Two instances of 'elvina' have been built to enable experiments with cooperating humanoids. The underlying ideas and conceptual principles, such as anthropomorphism, embodiment, and mechanisms for learning and adaptivity are introduced as well

Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots

This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the closed-loop, constrained joint space dynamics is linearized and the controller's gains are chosen so as to obtain desired properties of the linearized system. Symmetry and positive definiteness constraints of gain matrices are enforced by proposing a tracker for symmetric positive definite matrices. Simulation results are carried out on the humanoid robot iCub.Comment: Accepted at IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 201

Motion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination

Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optimize the movement of humanoid robot and research to this time is devoted to the movement of a humanoid robot goalkeeper by using behavior based coordination. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensor during standing, walking, turning, getting up, etc. Then the information from the outside is obtained by using the other sensor that is webcam camera and also from this sensor the robot can decide and behave to respond the data information effectively. In order to generate the proper and fast reaction, so a behavior based algorithm is applied in finding the most effective movement when the robot responds some stimulus. The performance of the proposed algorithm is verified by walking, getting up and ball anticipating movement and this experiment is conducted on a 16-DOFs humanoid robot, called EEPIS Fußball Robot IO (EFuRIO) 2nd generation

Vision system implementation on Bioloid robot

Tato bakalářská práce se zabývá implementací systému vidění na dvounohý humanoid robot ze stavebnice Bioloid. Systém vidění je složen z bezdrátové kamery, která je namontovaná na robotovi a z řídícího počítače. Cílem této práce bylo zkonstruovat a oživit humanoidního robota, vytvořit systém vidění a bezdrátový komunikační systém. V centru je robot, který pomocí bezdrátové komunikace současně odesílá i přijímá údaje. Tento systém nabízí skvělé schopnosti na další rozšíření.This bachelor's thesis deals with vision system implementation on bipedal humanoid robot made of the Bioloid assembly kit. The vision system is composed of a wireless camera, mounted on the robot and the controlling computer. The goal of this work was to construct and vitalize the humanoid robot, to establish the vision system and to create a wireless communication system. The center of this system is the robot, which wirelessly sends and receives data simultaneously. This system offers great capabilities for further expansions.