Filters








533 Hits in 4.9 sec

A Modular Software Framework for Eye–Hand Coordination in Humanoid Robots

Jürgen Leitner, Simon Harding, Alexander Förster, Peter Corke
2016 Frontiers in Robotics and AI  
We describe our software system enabling a tight integration between vision and control modules on complex, high-DOF humanoid robots.  ...  We describe the task and software design constraints that led to the layered modular system architecture.  ...  The authors would like to thank Mikhail Frank, Marijn Stollenga, Leo Pape, Adam Tow, and William Chamberlain for their discussions and valued inputs to this paper and the underlying software frameworks  ... 
doi:10.3389/frobt.2016.00026 fatcat:ufmfl7hdfnfj3ks7zjhrjil46q

The igus Humanoid Open Platform

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber, Sven Behnke
2016 Künstliche Intelligenz  
The igus Humanoid Open Platform is a new and affordable, fully open-source humanoid platform.  ...  At 92 cm in height, the robot is capable of interacting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields.  ...  Acknowledgements We would like to acknowledge the contributions of igus GmbH, in particular the management of Martin Raak towards the robot design and manufacture.  ... 
doi:10.1007/s13218-016-0448-6 fatcat:hous3gagv5hk5k3zbxrcwgxxjq

The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research [article]

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber and Sven Behnke
2018 arXiv   pre-print
The igus Humanoid Open Platform is a new and affordable, fully open-source humanoid platform.  ...  At 92cm in height, the robot is capable of interacting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields.  ...  Acknowledgements We would like to acknowledge the contributions of igus GmbH, in particular the management of Martin Raak towards the robot design and manufacture.  ... 
arXiv:1809.11110v1 fatcat:2jrz7ibomfbydbzjeesir75qxu

An Integrated, Modular Framework for Computer Vision and Cognitive Robotics Research (icVision) [chapter]

Jürgen Leitner, Simon Harding, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber
2013 Advances in Intelligent Systems and Computing  
We present an easy-to-use, modular framework for performing computer vision related tasks in support of cognitive robotics research on the iCub humanoid robot.  ...  The icVision framework described provides capabilities for detection of objects in the 2D image plane and locate those objects in 3D space to facilitate the creation of a world model.  ...  Learning to grasp and basic hand-eye coordination are the areas of research this framework is currently applied. Fig. 1 1 Left: The iCub humanoid robot.  ... 
doi:10.1007/978-3-642-34274-5_37 fatcat:dvqexnew4fabhpueijclaghjzu

First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform [chapter]

Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber, Sven Behnke
2017 Lecture Notes in Computer Science  
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing.  ...  Numerous humanoid standard platforms exist in the lower size ranges of up to 60 cm, but beyond that humanoid robots scale up quickly in weight and price, becoming less affordable and more difficult to  ...  Acknowledgements We acknowledge the contributions of igus GmbH to the project, in particular the management of Martin Raak towards the robot design and manufacture.  ... 
doi:10.1007/978-3-319-68792-6_52 fatcat:3olwvhdc7nernce3bimusvu7zi

A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform [article]

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura, Sven Behnke
2018 arXiv   pre-print
This paper describes a software framework for the NimbRo-OP that is based on the Robot Operating System (ROS) middleware.  ...  Over the past few years, a number of successful humanoid platforms have been developed, including the Nao and the DARwIn-OP, both of which are used by many research groups for the investigation of bipedal  ...  CONCLUSION In this paper a ROS-based software framework was presented for the NimbRo-OP robot, a humanoid open platform in development by team NimbRo of the University of Bonn.  ... 
arXiv:1809.11051v1 fatcat:vkgugugywjaaraqja24cwkboyi

ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control

T. Asfour, K. Regenstein, P. Azad, J. Schroder, A. Bierbaum, N. Vahrenkamp, R. Dillmann
2006 2006 6th IEEE-RAS International Conference on Humanoid Robots  
In this paper, we present a new humanoid robot currently being developed for applications in human-centered environments.  ...  In order for humanoid robots to enter humancentered environments, it is indispensable to equip them with manipulative, perceptive and communicative skills necessary for real-time interaction with the environment  ...  ACKNOWLEDGMENT The work described in this paper was partially conduc-  ... 
doi:10.1109/ichr.2006.321380 dblp:conf/humanoids/AsfourRASBVD06 fatcat:7dvv6d3cvjeglhx3vxs4j3mbmi

Child-sized 3D printed igus humanoid open platform

Philipp Allgeuer, Hafez Farazi, Michael Schreiber, Sven Behnke
2015 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)  
In this paper, the igus Humanoid Open Platform is presented-a new, affordable, versatile and easily customisable standard platform for humanoid robots in the child-sized range.  ...  The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups.  ...  ACKNOWLEDGEMENTS We would like to acknowledge the contributions of igus GmbH to the project, in particular the management of Martin Raak towards the robot design and manufacture.  ... 
doi:10.1109/humanoids.2015.7363519 dblp:conf/humanoids/AllgeuerFSB15 fatcat:fdbw57rcbnftdhvocjsdmuy3ge

Child-sized 3D Printed igus Humanoid Open Platform [article]

Philipp Allgeuer, Hafez Farazi, Michael Schreiber, Sven Behnke
2018 arXiv   pre-print
In this paper, the igus Humanoid Open Platform is presented---a new, affordable, versatile and easily customisable standard platform for humanoid robots in the child-sized range.  ...  The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups.  ...  ACKNOWLEDGEMENTS We would like to acknowledge the contributions of igus GmbH to the project, in particular the management of Martin Raak towards the robot design and manufacture.  ... 
arXiv:1809.10701v1 fatcat:utw4pfp7pbcmpgn3taxwdhp7n4

The Karlsruhe Humanoid Head

Tamim Asfour, Kai Welke, Pedram Azad, Ales Ude, Rudiger Dillmann
2008 Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots  
In this paper we present the Karlsruhe Humanoid Head, which has been designed to be used both as part of our humanoid robots ARMAR-IIIa and ARMAR-IIIb and as a stand-alone robot head for studying various  ...  Among these are tracking and saccadic motions towards salient regions, as well as more complex visual tasks such as hand-eye coordination.  ...  ACKNOWLEDGMENT The work described in this paper was partially con-  ... 
doi:10.1109/ichr.2008.4755993 dblp:conf/humanoids/AsfourWAUD08 fatcat:yqfypkhqtzd77nk67cuvopj754

Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub

Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber
2014 Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics  
Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it.  ...  We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot.  ...  FP7-IST-IP-231722, 'Intrinsically Motivated Cumulative Learning Versatile Robots' (IM-CLeVeR).  ... 
doi:10.5220/0005113401020109 dblp:conf/icinco/LeitnerFFS14 fatcat:iao4niifsbdr7iw5lum6hns7vm

Learning Spatial Object Localization from Vision on a Humanoid Robot

Jürgen Leitner, Simon Harding, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber
2012 International Journal of Advanced Robotic Systems  
We present a combined machine learning and computer vision approach for robots to localize objects.  ...  In addition, the approach is localizing objects robustly, when placed in the robot's workspace at arbitrary positions, even while the robot is moving its torso, head and eyes.  ...  The authors would like to thank: Leo Pape (IDSIA) & Ugo Pattacini (IIT) for the Cartesian controller and stereo camera calibration of the iCub; Davide Migliore & Alexandre Bernardino (IST) for helping  ... 
doi:10.5772/54657 fatcat:n2tbhq2ze5cvtl35o2vluoczc4

Vision-based manipulation with the humanoid robot Romeo

Giovanni Claudio, Fabien Spindler, Francois Chaumette
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
The aim of this paper is to show how visual servoing can help a humanoid robot to realize manipulation tasks with one and two hands, in conjunction with a gaze control.  ...  Finally, the framework is implemented and evaluated on the humanoid robot Romeo using the ViSP library.  ...  Moreover, the framework is applicable to any humanoid robot to achieve tasks such as manipulation with one arm, dual arm coordination and gaze control.  ... 
doi:10.1109/humanoids.2016.7803290 dblp:conf/humanoids/ClaudioSC16 fatcat:rq3ntzx7szhg7jn5fpy22qvtxe

Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi, Natalia Lyubova, Damien Gerardeaux-Viret, Alain Droniou, Salvatore M. Anzalone, Mohamed Chetouani, David Filliat, Olivier Sigaud
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario.  ...  Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules.  ...  In this paper, we present the general framework for reaching these goals and illustrate the preliminary experiments performed on the humanoid robot iCub as a first step towards the learning of object affordances  ... 
doi:10.1109/humanoids.2012.6651528 dblp:conf/humanoids/IvaldiLGDACFS12 fatcat:6wbukvztunboxg46dglzp2p3bm

Myon, a New Humanoid [chapter]

Manfred Hild, Torsten Siedel, Christian Benckendorff, Christian Thiele, Michael Spranger
2012 Language Grounding in Robots  
a robot has to be built for experiments on embodiment and language evolution on the other hand.  ...  In contrast to many other platforms, the Myon humanoid can be used as a whole or in parts.  ...  Various behaviors, like walking, gripping, and hand-eye-coordination were successfully implemented using the BrainDesigner and DISTAL.  ... 
doi:10.1007/978-1-4614-3064-3_2 fatcat:izz4pmmyjjelzaqgexfvidfwnm
« Previous Showing results 1 — 15 out of 533 results