Pub Date : 2023-06-02DOI: 10.1142/s021984362350007x
A. Kashyap, D. Parhi
{"title":"Dynamic Posture Stabilization Of Humanoid Robot NAO Using 3D-Multilinked Dual Spring-Loaded Inverted Pendulum Model for Uneven and Inclined Floor","authors":"A. Kashyap, D. Parhi","doi":"10.1142/s021984362350007x","DOIUrl":"https://doi.org/10.1142/s021984362350007x","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129703057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-02DOI: 10.1142/s0219843623500081
Omar Eldardeer, F. Rea, G. Sandini, Doreen Jirak
{"title":"When Deep is not Enough: Towards Understanding Shallow and Continual Learning Models in Realistic Environmental Sound Classification for Robots","authors":"Omar Eldardeer, F. Rea, G. Sandini, Doreen Jirak","doi":"10.1142/s0219843623500081","DOIUrl":"https://doi.org/10.1142/s0219843623500081","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124404216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-05-18DOI: 10.1142/s0219843623500056
J. Quarnstrom, Rahid Zaman, Y. Xiang
{"title":"Design a Four-Bar Mechanism for Specific Upper Limb Muscle Strength Rehabilitation Using Genetic Algorithm","authors":"J. Quarnstrom, Rahid Zaman, Y. Xiang","doi":"10.1142/s0219843623500056","DOIUrl":"https://doi.org/10.1142/s0219843623500056","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128966199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-03DOI: 10.1142/s0219843623500032
R. Das, A. Chemori, Neelesh Kumar
Estimation and control of Zero Moment Point (ZMP) is a widely used concept for planning the locomotion of bipedal robots and is commonly measured using integrated joint angle encoders and foot force sensors. Contemporary methods for ZMP measurement involve built-in contact sensors such as joint encoders or instrumented foot force sensors. This paper presents a novel approach for computing ZMP for a humanoid robot using inertial sensor-based wireless foot sensor modules (WFSM). The developed WFSMs, strapped at different limb segments of a bipedal robot, measure lower limb joint angles in real-time. The joint angle trajectories, further transformed into cartesian position coordinates, are used for estimating the ZMP positions of humanoid robots using the planar biped model. The whole framework is presented through experimental studies for different real-life walking scenarios. Since the modules work based on the limb motion and inclination, any ground unevenness would be automatically reflected in the module output. Hence, this measurement process can be a convenient method for applications requiring humanoid control on uneven surfaces/ outdoor terrains . To compare the performance of the proposed model, ZMP is simultaneously measured from inbuilt foot force sensors and joint encoders of the robot. Statistical tests exhibit a high linear correlation between the proposed method with integrated encoders and foot force sensors (Pearson’s coefficient, r > 0.99). Results indicate that ZMP estimated by WFSM is a viable method to monitor the dynamic gait balance of a humanoid robot and has potential application in outdoor and uneven terrains
{"title":"A Novel Low-Cost ZMP Estimation Method for Humanoid Gait using Inertial Measurement Devices: Concept and Experiments","authors":"R. Das, A. Chemori, Neelesh Kumar","doi":"10.1142/s0219843623500032","DOIUrl":"https://doi.org/10.1142/s0219843623500032","url":null,"abstract":"Estimation and control of Zero Moment Point (ZMP) is a widely used concept for planning the locomotion of bipedal robots and is commonly measured using integrated joint angle encoders and foot force sensors. Contemporary methods for ZMP measurement involve built-in contact sensors such as joint encoders or instrumented foot force sensors. This paper presents a novel approach for computing ZMP for a humanoid robot using inertial sensor-based wireless foot sensor modules (WFSM). The developed WFSMs, strapped at different limb segments of a bipedal robot, measure lower limb joint angles in real-time. The joint angle trajectories, further transformed into cartesian position coordinates, are used for estimating the ZMP positions of humanoid robots using the planar biped model. The whole framework is presented through experimental studies for different real-life walking scenarios. Since the modules work based on the limb motion and inclination, any ground unevenness would be automatically reflected in the module output. Hence, this measurement process can be a convenient method for applications requiring humanoid control on uneven surfaces/ outdoor terrains . To compare the performance of the proposed model, ZMP is simultaneously measured from inbuilt foot force sensors and joint encoders of the robot. Statistical tests exhibit a high linear correlation between the proposed method with integrated encoders and foot force sensors (Pearson’s coefficient, r > 0.99). Results indicate that ZMP estimated by WFSM is a viable method to monitor the dynamic gait balance of a humanoid robot and has potential application in outdoor and uneven terrains","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127815266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-20DOI: 10.1142/s0219843623500019
Sangjin Ko, Jaclyn A. Barnes, Jiayuan Dong, C. Park, A. Howard, M. Jeon
{"title":"The Effects of Robot Voices and Appearances on Users' Emotion Recognition and Subjective Perception","authors":"Sangjin Ko, Jaclyn A. Barnes, Jiayuan Dong, C. Park, A. Howard, M. Jeon","doi":"10.1142/s0219843623500019","DOIUrl":"https://doi.org/10.1142/s0219843623500019","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129340784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-19DOI: 10.1142/s0219843622500153
Astra Chun-Hui Lee, Huan-Kun Hsu, Han-Pang Huang
Generally, robots are initially designed via computer-aided software to obtain their parameters. However, the given parameters are not entirely true due to their unmodeled parts; therefore, system identification is needed, and physical conditions are crucial to guarantee feasible solutions. This study uses a quadratic programming regression model accompanied by physical consistency constraints and designs specific exciting motions for humanoid robots. The proposed constraints are designed based on the geometric approximation of link objects, the physically reasonable mass and inertia and the total mass of the robot being correct. The proposed exciting motions include the general walking motion and the single-leg support motion, which enable a more flexible and stable way to cause excitation in the floating-base system. The identified parameters are evaluated on the humanoid robot NINO. Furthermore, the error between the feedback information of the zero moment point and the command information of the center of mass are used for evaluating the identified dynamic parameters. According to the experiments with the proposed exciting motions, the identified parameters are found to be obviously better than the original computer-aided design parameters, especially in the [Formula: see text] direction.
{"title":"Optimized System Identification of Humanoid Robots with Physical Consistency Constraints and Floating-based Exciting Motions","authors":"Astra Chun-Hui Lee, Huan-Kun Hsu, Han-Pang Huang","doi":"10.1142/s0219843622500153","DOIUrl":"https://doi.org/10.1142/s0219843622500153","url":null,"abstract":"Generally, robots are initially designed via computer-aided software to obtain their parameters. However, the given parameters are not entirely true due to their unmodeled parts; therefore, system identification is needed, and physical conditions are crucial to guarantee feasible solutions. This study uses a quadratic programming regression model accompanied by physical consistency constraints and designs specific exciting motions for humanoid robots. The proposed constraints are designed based on the geometric approximation of link objects, the physically reasonable mass and inertia and the total mass of the robot being correct. The proposed exciting motions include the general walking motion and the single-leg support motion, which enable a more flexible and stable way to cause excitation in the floating-base system. The identified parameters are evaluated on the humanoid robot NINO. Furthermore, the error between the feedback information of the zero moment point and the command information of the center of mass are used for evaluating the identified dynamic parameters. According to the experiments with the proposed exciting motions, the identified parameters are found to be obviously better than the original computer-aided design parameters, especially in the [Formula: see text] direction.","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117046803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-16DOI: 10.1142/s0219843622500220
Motonobu Aoki, F. Rea, Doreen Jirak, G. Sandini, Takura Yanagi, A. Takamatsu, Stephane Bouet, T. Yamamura
{"title":"On the Influence of Social Robots in Cognitive Multitasking","authors":"Motonobu Aoki, F. Rea, Doreen Jirak, G. Sandini, Takura Yanagi, A. Takamatsu, Stephane Bouet, T. Yamamura","doi":"10.1142/s0219843622500220","DOIUrl":"https://doi.org/10.1142/s0219843622500220","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122264192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-16DOI: 10.1142/s0219843622500244
George-Iulian Uleru, M. Hulea, V. Manta
{"title":"Using Hebbian Learning for Training Spiking Neural Networks to Control Fingers of Robotic Hands","authors":"George-Iulian Uleru, M. Hulea, V. Manta","doi":"10.1142/s0219843622500244","DOIUrl":"https://doi.org/10.1142/s0219843622500244","url":null,"abstract":"","PeriodicalId":312776,"journal":{"name":"Int. J. Humanoid Robotics","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127605639","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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