International Journal of Humanoid Robotics最新文献

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Author Index Volume 15 (2018) 作者索引第15卷（2018）

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2018-10-31 DOI: 10.1142/s0219876218990013

引用次数: 0

From Human Motion Captures to humanoid Spatial Coordination 从人体运动捕捉到类人空间协调

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2012-01-01 DOI: 10.1142/S0219843612500193

Jean-Christophe Palyart Lamarche, O. Bruneau, J. Fontaine

This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeo® between human (anthropomorphic proportions) and robot (joints con ̄guration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a speci ̄c humanoid robot (called NAO) in order to illustrate and compare some preliminary results.

本文描述了一种在仿人机器人环境下翻译人类空间协调的方法。一旦人类运动被捕获，我们强调描述运动的协调关系。关系和逆运动学应用于虚拟人形，这是人(拟人化比例)和机器人(关节构型)之间的折衷。此外，我们量化了所有需要适应一个真正的人形，如缩放和平衡。最后，将该方法应用于一个特定的类人机器人(称为NAO)，以说明和比较一些初步结果。

引用次数: 0

Active Segmentation. 活跃的市场细分。

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2009-01-01 DOI: 10.1142/S0219843609001784

Ajay Mishra, Yiannis Aloimonos

The human visual system observes and understands a scene/image by making a series of fixations. Every fixation point lies inside a particular region of arbitrary shape and size in the scene which can either be an object or just a part of it. We define as a basic segmentation problem the task of segmenting that region containing the fixation point. Segmenting the region containing the fixation is equivalent to finding the enclosing contour- a connected set of boundary edge fragments in the edge map of the scene - around the fixation. This enclosing contour should be a depth boundary.We present here a novel algorithm that finds this bounding contour and achieves the segmentation of one object, given the fixation. The proposed segmentation framework combines monocular cues (color/intensity/texture) with stereo and/or motion, in a cue independent manner. The semantic robots of the immediate future will be able to use this algorithm to automatically find objects in any environment. The capability of automatically segmenting objects in their visual field can bring the visual processing to the next level. Our approach is different from current approaches. While existing work attempts to segment the whole scene at once into many areas, we segment only one image region, specifically the one containing the fixation point. Experiments with real imagery collected by our active robot and from the known databases 1 demonstrate the promise of the approach.

人类的视觉系统通过一系列的注视来观察和理解一个场景/图像。每个注视点位于场景中任意形状和大小的特定区域内，该区域可以是一个物体，也可以只是物体的一部分。我们将包含注视点的区域的分割任务定义为基本分割问题。分割包含固定的区域相当于找到固定周围的封闭轮廓-场景边缘地图中连接的一组边界边缘碎片。这个封闭的轮廓应该是一个深度边界。我们在这里提出了一种新的算法，该算法可以找到这个边界轮廓，并在给定固定的情况下实现对一个物体的分割。所提出的分割框架以线索独立的方式将单眼线索(颜色/强度/纹理)与立体和/或运动相结合。不久的将来，语义机器人将能够使用这种算法在任何环境中自动找到物体。自动分割视野内物体的能力可以将视觉处理提升到一个新的水平。我们的方法不同于目前的方法。虽然现有的工作试图将整个场景一次分割成许多区域，但我们只分割一个图像区域，特别是包含注视点的区域。用我们的主动机器人和已知数据库收集的真实图像进行的实验1证明了该方法的前景。

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引用次数: 42

RECOGNIZING BEHAVIOR IN HAND-EYE COORDINATION PATTERNS. 识别手眼协调模式的行为。

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2009-01-01 DOI: 10.1142/S0219843609001863

Weilie Yi, Dana Ballard

Modeling human behavior is important for the design of robots as well as human-computer interfaces that use humanoid avatars. Constructive models have been built, but they have not captured all of the detailed structure of human behavior such as the moment-to-moment deployment and coordination of hand, head and eye gaze used in complex tasks. We show how this data from human subjects performing a task can be used to program a dynamic Bayes network (DBN) which in turn can be used to recognize new performance instances. As a specific demonstration we show that the steps in a complex activity such as sandwich making can be recognized by a DBN in real time.

人类行为建模对于设计机器人以及使用人形化身的人机界面非常重要。建设性的模型已经建立起来，但它们并没有捕捉到人类行为的所有细节结构，比如在复杂任务中使用的手、头和眼睛的即时部署和协调。我们展示了如何使用执行任务的人类受试者的数据来编程动态贝叶斯网络(DBN)，该网络反过来可用于识别新的性能实例。作为一个具体的演示，我们展示了一个复杂活动的步骤，如三明治制作，可以被DBN实时识别。

引用次数: 51

A PHYSIOLOGIST'S PERSPECTIVE ON ROBOTIC EXOSKELETONS FOR HUMAN LOCOMOTION. 生理学家对人类运动机器人外骨骼的看法。

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2007-09-01 DOI: 10.1142/S0219843607001138

Daniel P Ferris, Gregory S Sawicki, Monica A Daley

Technological advances in robotic hardware and software have enabled powered exoskeletons to move from science fiction to the real world. The objective of this article is to emphasize two main points for future research. First, the design of future devices could be improved by exploiting biomechanical principles of animal locomotion. Two goals in exoskeleton research could particularly benefit from additional physiological perspective: 1) reduction in the metabolic energy expenditure of the user while wearing the device, and 2) minimization of the power requirements for actuating the exoskeleton. Second, a reciprocal potential exists for robotic exoskeletons to advance our understanding of human locomotor physiology. Experimental data from humans walking and running with robotic exoskeletons could provide important insight into the metabolic cost of locomotion that is impossible to gain with other methods. Given the mutual benefits of collaboration, it is imperative that engineers and physiologists work together in future studies on robotic exoskeletons for human locomotion.

机器人硬件和软件的技术进步使动力外骨骼从科幻小说走向现实世界。本文的目的是强调未来研究的两个要点。首先，未来设备的设计可以通过利用动物运动的生物力学原理来改进。外骨骼研究的两个目标尤其可以从额外的生理学角度受益:1)减少用户佩戴设备时的代谢能量消耗，2)最小化驱动外骨骼的功率需求。其次，机器人外骨骼具有相互作用的潜力，可以促进我们对人类运动生理学的理解。人类在机器人外骨骼上行走和跑步的实验数据可以为运动的代谢成本提供重要的见解，这是其他方法无法获得的。考虑到合作的共同利益，工程师和生理学家在未来的人类运动机器人外骨骼研究中合作是势在必行的。

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引用次数: 193

Electrically Active Interface Defects in the (100)Si/SiOx/HfO2/TiN System: Origin, Instabilities and Passivation (100)Si/SiOx/HfO2/TiN体系中的电活性界面缺陷:起源、不稳定性和钝化

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2006-10-29 DOI: 10.1149/1.2355702

P. Hurley, K. Cherkaoui, A. Groenland

An analysis of the origin and passivation of interface states in (100)Si/SiOx/HfO2/TiN capacitor structures is presented. For high-k gate/metal gate capacitors which exhibit relatively high interface state densities (> 1x1011cm-2) the dominant interfacial defects are silicon dangling bond (Pbo) centres. For (100)Si/SiOx/HfO2/TiN capacitors which experience no high temperature thermal budget following HfO2/TiN gate formation (T<600{degree sign}C), the devices exhibit instabilities, where the interface state densities are modified during electrical measurements. The origin of this instability is studied. The response of the interface state density to rapid thermal annealing (30s) in N2 over the temperature range 600-900{degree sign}C is presented. In addition, results are presented for interface state passivation in forming gas (0.5H2/0.95N2) from 350-550{degree sign}C for (100)Si/SiOx/HfO2/TiN gate stacks with no post deposition annealing following TiN gate formation and for devices following a 900{degree sign}C, 30s N2 RTA.

分析了(100)Si/SiOx/HfO2/TiN电容结构中界面态的来源和钝化。对于具有较高界面态密度(bbb1x1011cm -2)的高k栅极/金属栅极电容器，主要的界面缺陷是硅悬空键(Pbo)中心。对于(100)Si/SiOx/HfO2/TiN电容器，在HfO2/TiN栅极形成后没有高温热收支(T<600{度符号}C)，器件表现出不稳定性，其中在电测量期间界面态密度被修改。研究了这种不稳定性的根源。给出了在600 ~ 900{度符号}C的N2中快速退火(30s)对界面态密度的响应。此外，对于(100)Si/SiOx/HfO2/TiN栅极堆，在350-550{度符号}C的形成气体(0.5H2/0.95N2)中，在TiN栅极形成后没有沉积后退火，以及对于900{度符号}C, 30s N2 RTA的器件，给出了界面态钝化的结果。

引用次数: 5

Design Principles for Dependable Robotic Assistants 可靠机器人助手的设计原则

IF 1.5 4区计算机科学 Q2 Engineering

International Journal of Humanoid Robotics

Pub Date : 2004-03-01 DOI: 10.1142/S0219843604000071

R. Bischoff, V. Graefe

A large number of functionalities have been integrated into a single fully autonomous humanoid robot, HERMES. To evaluate the dependability of this extremely complex machine, and its ability to interact with strangers, HERMES was exhibited in a museum, far away from its home laboratory, for more than six months. During this period the robot and its skills were regularly demonstrated to the public by non-expert presenters up to 12 hours per day. Also, HERMES interacted with the visitors, chatted with them in English, French and German, answered questions and performed services as requested by them. Only three major failures occurred during the 6-month period, all of them caused by failures of commercially available modules that could easily be replaced. The key to this success was the dependability that had been originally designed into HERMES. During the design process certain design principles were followed in both hardware and software. These principles are introduced, and some long- and short-term experiments carried out with the real robot in real environments are presented. In fact, by demonstrating HERMES in the museum, at trade fairs and in TV studios — besides our institute environment — we have learned valuable lessons, especially regarding the interaction of a complex robotic assistant with unknown humans. Although we did not quantitatively evaluate the robot’s performance or acceptance by the non-expert users, several qualitative results are given in this paper, and many videos highlighting these results can be downloaded from the HERMES homepage.

大量的功能已经集成到一个完全自主的人形机器人HERMES中。为了评估这台极其复杂的机器的可靠性，以及它与陌生人互动的能力，HERMES在远离其实验室的博物馆里展出了六个多月。在此期间，机器人和它的技能由非专业的主持人定期向公众展示，每天长达12小时。此外，HERMES还与参观者进行互动，用英语、法语和德语与他们聊天，回答他们的问题，并根据他们的要求提供服务。在6个月的时间里，只发生了三次重大故障，所有这些故障都是由市售模块的故障引起的，这些模块很容易被替换。这一成功的关键在于赫尔墨斯最初设计的可靠性。在设计过程中，硬件和软件都遵循一定的设计原则。介绍了这些原理，并给出了机器人在真实环境中进行的一些长期和短期实验。事实上，通过在博物馆、贸易博览会和电视演播室展示HERMES，除了我们的研究所环境，我们学到了宝贵的经验，特别是关于复杂的机器人助手与未知人类的互动。虽然我们没有定量评估机器人的性能或非专业用户的接受程度，但本文给出了几个定性结果，并且可以从HERMES主页下载许多突出这些结果的视频。

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引用次数: 34

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