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Humanoid Robot Motion Recognition and Reproduction
2009
Advanced Robotics
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Thus, an important goal is to develop a humanoid robot that can learn to perform complex tasks by itself. This paper proposes a method to recognize and regenerate motion in a humanoid robot. ...
Humanoid robots have become appealing to the research community because of their potential versatility. However, traditional programming approaches may not reveal their full capabilities. ...
Recently, robotics researchers have succeeded in developing mechanical platforms for humanoid robots. These robots can walk and perform simple tasks. ...
doi:10.1163/156855308x397569
fatcat:aqae2thevnhudmnnksrx2irbxu
Robust Biped Locomotion Using Deep Reinforcement Learning on Top of an Analytical Control Approach
[article]
2021
arXiv
pre-print
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Furthermore, a learning framework is developed based on Genetic Algorithm (GA) and Proximal Policy Optimization (PPO) to find the optimum parameters and to learn how to improve the stability of the robot ...
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. ...
[30] developed a hybrid CPG-ZMP controller to generate stable locomotion for humanoid robots. ...
arXiv:2104.10592v1
fatcat:ulkxmgotivdsrjdnysqimer7b4
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
[article]
2020
arXiv
pre-print
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Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. ...
In this context, this review article outlines the end-to-end process of methods which have proven effective in the literature for achieving dynamic walking on bipedal robots. ...
ACKNOWLEDGMENTS The authors would like to thank the members of AMBER Lab whom have contributed to the understanding of robotic walking summarized in this paper. ...
arXiv:2010.07451v1
fatcat:rdnhz65amne3hbqvew6pd7qtd4
Imitation of Dynamic Walking with BSN for a Humanoid Robot
2015
IEEE journal of biomedical and health informatics
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This paper proposes a strategy for imitating dynamic walking gait for a humanoid robot by formulating the problem as an optimization process. ...
The method is validated using a NAO humanoid robot, with results demonstrating the effectiveness of the proposed strategy for dynamic walking. ...
Therefore, the optimization framework is able to reproduce robot walking that is similar to human walking. ...
doi:10.1109/jbhi.2015.2425221
pmid:25935051
fatcat:2fdp4idurjaf5iwy5w24gu6jyy
Stochastic optimization of bipedal walking using gyro feedback and phase resetting
2007
2007 7th IEEE-RAS International Conference on Humanoid Robots
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We present a method to optimize the walking pattern of a humanoid robot for forward speed using suitable metaheuristics. ...
We selected the extended PGRL algorithm to optimize the gait of a real robot. After optimization, the robot is able to walk significantly faster. ...
INTRODUCTION Enabling a humanoid robot to walk fast and stable is nontrivial. Such robots are highly complex, non-linear dynamical systems that are hard to control. ...
doi:10.1109/ichr.2007.4813869
dblp:conf/humanoids/FaberB07
fatcat:cupjvaqidbalxaic542vpmu6ji
Efficient Walking Speed Optimization of a Humanoid Robot
2009
The international journal of robotics research
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The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. ...
quadratic programming to search for a fast and stable walking motion. ...
Conclusion For the newly developed, 55 cm tall autonomous humanoid robot prototype HR18 a hardware-in-the-loop walking optimization approach has been presented. ...
doi:10.1177/0278364908095171
fatcat:zz2eyscm3nht7mhcis4jt3qusi
Using eigenposes for lossless periodic human motion imitation
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Programming a humanoid robot to perform an action that takes the robot's complex dynamics into account is a challenging problem. ...
Training using human motion capture is an intuitive and flexible approach to programming a robot but directly applying motion capture data to a robot usually results in dynamically unstable motion. ...
Our previous work [18] demonstrated that the proposed approach allows a humanoid robot to learn to walk based solely on human motion capture without the need for a detailed physical model of the robot ...
doi:10.1109/iros.2009.5354391
dblp:conf/iros/ChalodhornR09
fatcat:zhg3b7a23bca7auxi6gqdlfmdu
Humanoids
[chapter]
2016
Springer Handbook of Robotics
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Researchers have also developed specialized methods for generating stable robot motion while an object is being manipulated [67.46, 65, 68-70] . ...
The ZMP can be used to plan walking patterns that make the robot dynamically stable while walking. ...
doi:10.1007/978-3-319-32552-1_67
fatcat:xgkavbgzmbae7mo4wjdrmivkdu
Modular software architecture for teams of cooperating, heterogeneous robots
2006
2006 IEEE International Conference on Robotics and Biomimetics
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The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described. ...
For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor ...
The walking motions have been optimized regarding to stability and walking speed by varying the controlling parameters, e.g. step length and pitch angle in the upper body etc., in a hardware-in-the-loop ...
doi:10.1109/robio.2006.340270
dblp:conf/robio/FriedmannKPTS06
fatcat:mwxpovkjwfeuhi74mph24rtoky
Automatic task-specific model reduction for humanoid robots
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
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It also presents an optimization framework that uses the auto-generated taskspecific reduced models to control humanoid robots. ...
This paper presents an automatic model reduction procedure for humanoid robots, which is task-specific. ...
Moreover, an optimization framework was presented that empowers the reduced models to be used for control of humanoid robots. ...
doi:10.1109/iros.2013.6696720
dblp:conf/iros/NagarajanY13
fatcat:qfk6zftnvrguffbonyy45gvlou
Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models
2018
Applied Sciences
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In an approach that is situated between whole-body optimization and motion generation by reduced models, optimization of template models has been used for generating walking motion of humanoid robots in ...
As motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using ...
We wish to thank the Simulation and Optimization group of H. G. Bock at the Heidelberg University for providing the optimal control code MUSCOD. ...
doi:10.3390/app8020278
fatcat:7hdc33mrmfdtpm4frne5zes37u
Learning to Imitate Human Actions through Eigenposes
[chapter]
2010
Studies in Computational Intelligence
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Programming a humanoid robot to perform an action that takes into account the robot's complex dynamics is a challenging problem. ...
An inverse mapping that maps optimized eigenpose data from the low-dimensional subspace back to the original joint space is then used to generate motion on the robot. ...
This work was supported by National Science Foundation (NSF) grant 0622252, the Office of Naval Research (ONR) Cognitive Science program, and a Packard Fellowship to RPNR. ...
doi:10.1007/978-3-642-05181-4_15
fatcat:bcmdujf5araurmavhi5sq3aem4
Special issue on whole-body control of contacts and dynamics for humanoid robots
2016
Autonomous Robots
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Sometimes, like when reaching for a distant object or standing inside a moving bus that suddenly brakes, humans plan intentionally new contacts to preserve their balance and avoid falling. ...
Whether you are walking on a concrete floor, standing on a carpet, or sitting on a soft chair, your entire body continuously controls the posture and the contact forces that are produced by acting on rigid ...
He is broadly interested in human motion and humanoid robotics. ...
doi:10.1007/s10514-016-9545-5
fatcat:svbsz5d5obe5fossx6fkymb57a
Passivity-Based Full-Body Force Control for Humanoids and Application to Dynamic Balancing and Locomotion
2006
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
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With this framework, we introduce gravity compensation at the lowest layer of the controller that makes the closed-loop system passive with respect to additional inputs as well as external forces. ...
This paper proposes a passivity-based hierarchical full-body motion controller for force-controllable multi-DOF humanoid robots. ...
The robot does not fall, but walks to the direction of the external force. This is an externally-driven-walking, demonstrating the passivity of the closed-loop system. ...
doi:10.1109/iros.2006.282450
dblp:conf/iros/HyonC06
fatcat:g7u3hwzrtjfxbfbqydms3gqprq
Humanoid Robot Balance Control Using the Spherical Inverted Pendulum Mode
2015
Frontiers in Robotics and AI
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However, biped humanoid robots are far from exhibiting similar skills. This is mainly due to the limitations in the current control and modeling techniques used in humanoid robots. ...
the humanoid robot. ...
Table 1 shows the parameters of the humanoid robot used in the simulations. Figure 3 shows the closed-loop system response for the different disturbances. ...
doi:10.3389/frobt.2015.00021
fatcat:yduuxhcghffzjfeupuketzwrly
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