Classification of Sitting States for the Humanoid Robot SJTU-HR1

The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.

Cyber-Physical-Social System Between a Humanoid Robot and a Virtual Human Through a Shared Platform for Adaptive Agent Ecology

Two artificial agents(a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy, functionalities and interaction modalities. The agents are integrated in the form of a cyber-physical-social system(CPSS) through a shared communication platform to create a social ecology. In the ecology, the agents collaborate(assist each other) to perform a real-world task(search for a hidden object)for the benefits of humans. A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed. The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust, which results in a mixedinitiative collaboration. A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS. The results thus prove the effectiveness of the real-world ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives. The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.

Clock-turning gait synthesis for humanoid robots

Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps： ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs （degrees of freedom）. The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP （zero moment point） is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method.

Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects

This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.

A selective attention-based contextual perception approach for a humanoid robot

A humanoid robot is always flooded by sensed information when sensing the environment, and it usually needs significant time to compute and process the sensed information. In this paper, a selective attention-based contextual perception approach was proposed for humanoid robots to sense the environment with high efficiency. First, the connotation of attention window （AW） is extended to make a more general and abstract definition of AW, and its four kinds of operations and state transformations are also discussed. Second, the attention control policies are described, which integrate intensionguided perceptual objects selection and distractor inhibition, and can deal with emergent issues. Distractor inhibition is used to filter unrelated information. Last, attention policies are viewed as the robot＇s perceptual modes, which can control and adjust the perception efficiency. The experimental results show that the presented approach can promote the perceptual efficiency significantly, and the perceptual cost can be effectively controlled through adopting different attention policies.

Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion

A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly selected.For the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried out.The torques required at each motor of the robot under external forces were obtained.Here,the external forces were also estimated through simulation and literature survey.On the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot.

Humanoid Robots That Behave, Speak, and Think Like Humans:A Reduction to Practice RRC-Humanoid Robot

A radical new approach is presented to programming human-like levels of Artificial Intelligence (AI) into a humanoid robot equipped with a verbal-phoneme sound generator. The system shares 3 important characteristics with human-like input data and processing: 1) The raw data and preliminary processing of the raw data are human-like. 2) All the data are subjective, that is related and correlated with a robotic self-identity coordinate frame. 3) All the data are programmed behaviorally into the system. A multi-tasking Relational Robotic Controller (RRC)-Humanoid Robot, described and published in the peer-reviewed literature, has been specifically designed to fulfill those 3 characteristics. A RRC-controlled system may be behaviorally programmed to achieve human-like high I.Q. levels of subjective AI for the visual signals and the declarative-verbal words and sentences heard by the robot. A proof of concept RRC-Humanoid Robot is under development and present status is presented at the end of the paper.

Kinect-Based Humanoid Robotic Manipulator for Human Upper Limbs Movements Tracking

This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking. Using Kinect tracking algorithm, the positions of upper limb arms of the body to the wrist in 3D space can be estimated by processing depth images from the Kinect. An extraction of 3D co-ordinates of the user’s both arm in real-time then Arduino microcontroller is transferring the data between both of computer and the humanoid robotic arm. This method provides a way to send movement task to the humanoid robotic manipulator instead of sending the end position motion like gesture-based approaches and this method has been tested in detect, tracking and following the movement of human skeleton gesture. Designing complete prototype of a humanoid robotic arms with 4DOF three joints in shoulder and one elbow joint to the wrist that look like the Human arm Structure, Appearance and Action that represent human arm movement performed by the humanoid robotic arm. The error was and response time result generated is small (less than 4.6% and 105 ms).

Humanoid Robot 3-D Motion Simulation for Hardware Realization

In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.

ROS-based Humanoid Robot

1Project Introduction Through the capture of human body images by the camera first and then the adoption of the human body key point detection technology,we can decompose human actions into simple dots and lines,and then draw a sketch of human actions based on the location of the steering engines,which is then transmitted to the control terminal.The control terminal will compare the location of the robot’s steering engines,and adjust their pendulum and rotation angles to enable the robot to simulate human actions.

Enhanced Map-Based Indoor Navigation System of a Humanoid Robot Using Ultrasound Measurements

During recent years, walking humanoid robots have gained popularity from wheeled vehicle robots in various assistive roles in human’s environment. Self-localization is a necessary requirement for the humanoid robots used in most of the assistive tasks. This is because the robots have to be able to locate themselves in their environment in order to accomplish their tasks. In addition, autonomous navigation of walking robots to the pre-defined destination is equally important mission, and therefore it is required that the robot knows its initiate location precisely. The indoor navigation is based on the map of the environment used by the robot. Assuming that the walking robot is capable of locating itself based on its initiate location and the distance walked from it, there are still factors that impair the map-based navigation. One of them is the robot’s limited ability to keep its direction when it is walking, which means that the robot is not able to walk directly from one point to another due to a stochastic error in walking direction. In this paper we present an algorithm for straightening the walking path using distance measurements by built-in sonar sensors of a NAO humanoid robot. The proposed algorithm enables the robot to walk directly from one point to another, which enables precise map-based indoor navigation.

仿人头像机器人“H&Frobot-Ⅲ”语音及口形系统研制与实验

为进一步研究仿人头部器官及面部表情的行为智能,以及机器人与人类交流问题,首次将口形及其与语音协调问题引入到表情机器人系统,并进行研究。在已研制成功的具有面部表情及视觉仿人头像机器人系统"H&Frobot-II"基础上,根据人面部运动肌肉解剖学及Ekm an面部表情编码系统FACS,论述了口部动作驱动点设置、口形驱动机构及控制方法,设计、研制了语音及口形系统;最后给出了机器人"H&Frobot-III"的语音识别与口形协调实验结果,其口形与人讲同样话时口形能够很好地吻合,验证了语音与口形系统的可行性,从而为进一步研究机器人表情智能奠定了技术基础。

e-Robot网格一仿人机器人研究与应用基础设施

目前仿人机器人的研究与应用碰到了诸如:大计算量、海量存储的需求、实验设备投入大、科研人员的协作和成果融合困难等问题。而网格具有超级计算能力、海量的存储容量、能做到网格中所有软件资源、硬件资源、人力资源的协同工作和全面共享。若能基于网格技术构建一个仿人机器人研究与应用的平台,就能解决仿人机器人研究和应用中的众多障碍。这里提出的e-Robot网格就是这样一个仿人机器人研究与应用的基础设施,它采用OGSA体系结构的基础网格,并在其基础上构建庞大的仿人机器人研究与应用服务软件集合。e-Robot网格将给仿人机器人领域的研究、应用带来变革性的进步。

Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.

Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone

With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. The working of the controller has been tested on a NAO humanoid robot in V-REP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been performed.Finally, the results obtained from both the environments are compared against each other with a good agreement between them.

Optimal sagittal gait with ZMP stability during complete walking cycle for humanoid robots

A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle, and the inverse dynamics of both walking phases is investigated. A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures. Thus, the gait optimization is transformed into an ordinary constrained nonlinear programming problem. The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.

Dynamically Adapt to Uneven Terrain Walking Control for Humanoid Robot

Dynamically adapt to uneven ground locomotion is a crucial ability for humanoid robots utilized in human environments.However,because of the effect of current pattern generation method,adapting to unknown rough ground is limited.Moreover,to maintain large support region by four-point contact during the landing phase is usually a key problem.In order to solve these problems,a landing phase control and online pattern generation in three dimensional environments is proposed.On the basis of robot-environment non-planar interactive modes,a method of landing control based on optimal support region is put forward to realize stable four-point contact by flexible foot,and a controller is employed to adapt to the changes of ground without using prior knowledge.Furthermore,an adaptable foothold planning is put forward to the online pattern generation considering walking speed,uneven terrain,and the effect of lateral movement to the locomotion stability.Finally,the effectiveness of landing control and online pattern generation is demonstrated by dynamic simulations and real robot walking experiments on outdoor uneven ground.The results indicate that the robot kept its balance even though the ground is unknown and irregular.The proposed methods lay a foundation for studies of humanoid robots performing tasks in complex environments.

Motion Planning of Humanoid Robot for Obstacle Negotiation

The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.

Emotional Gait Generation for a Humanoid Robot

In this paper, an emotional mathematical model and affective state probability description space of a humanoid robot are set up on the basis of psycho-dynamics＇ psychological energy and affective energy conservation law. The emotional state transferring process and hidden Markov chain algorithm of stimulating transition process are then studied. The simulation results show that the mathematical model is applicable to the authentic affective state change rule of human beings. Finally, the gait generation experiment results of control signal and electric current tracking wave-form are presented to demonstrate the validity of the proposed mathematical model.

Recommended Design and Direction of Development for Humanoid Nursing Robots Perspective from Nursing Researchers

The purpose of this article is to describe recommendations towards the design and direction of development for Humanoid Nursing Robots (HNRs) from the standpoint of researchers of nursing care practice. Efforts to introduce robot technologies in nursing practice and to use them in elderly and high-tech healthcare environments have begun in developed countries like Japan. Companies are developing various types of robots, although their types and functionalities continue to require a clear identification and definition. Regardless, robot developments for health care purposes are progressing well to meet universal technological demands. While human caring has been a human-to-human relationship, in a nonhuman-to-human relationship in the case of HNRs, it is essential to consider ethical concerns and human safety. If HNRs are to support patients directly, they must be required to have the same level of comprehensive judgment ability and responsiveness as that of human nurses. This includes abilities to genuinely observe, judge, rapidly respond, and conduct human caring practice emphasizing individuality. If HNRs support patients independently, abilities which are much like those of humans will be required of them in addition to the appropriate intelligence and skillfulness to do so. A low level robot nurse exerts work that should be called non-nursing or as a medical aid assistant no matter who thinks and what these technologies can do. Similarly, a higher level HNR with higher level artificial intelligence is expected to exceed the capabilities of human beings. As such, current discourse and debate also include the concern that HNRs may now become one’s superior or rather that the HNR is a subordinate thereby requiring human management.