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A modular design process for developing humanoid mobile robot VieBot

Hung Chan Nguyen, Ha Xuan Nguyen, Ngoc-Anh Mai, Lam Bao Dang, Hai Minh Pham
2018 Advances in Science, Technology and Engineering Systems  
This paper introduces a design process for developing a humanoid mobile robot, namely VieBot.  ...  Our key solution is to split the design into three modules related to robot behavior, kinematic computation and motion control.  ...  Conflict of Interest The authors declare no conflict of interest.  ... 
doi:10.25046/aj030422 fatcat:hb3fbeantjcu5j373wnvoqkxom

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

Mohammed Z. Al-Faiz, Ahmed F. Shanta
2015 Intelligent Control and Automation  
This paper presents a humanoid robotic arms controlled by tracking the human skeleton movement in real-time using Kinect upper limbbody tracking.  ...  human arm movement performed by the humanoid robotic arm.  ...  Experiments To evaluate the Kinect and humanoid robotic arms operation algorithm described in this paper, we use Processing language to develop a humanoid robotic interface system and this system is used  ... 
doi:10.4236/ica.2015.61004 fatcat:coknm7ggjveepfmgxshzqodeei

A Real-Time Upper-Body Robot Imitation System

Zhijun Zhang, Yaru Niu, Lingdong Kong, Shuyang Lin, Hao Wang
2019 International Journal of Robotics and Control  
An upper-body robot imitation (UBRI) system is proposed and developed to enable the human upper body imitation by a humanoid robot in real time.  ...  To achieve the imitation of arm motions, a geometry-based analytical method is presented and applied to extracting the joint angles of the human and mapping to the robot.  ...  It provides a novel and effective way of controlling the robot, especially the humanoid robot with a high degree of freedom.  ... 
doi:10.5430/ijrc.v2n1p49 fatcat:dys2b2utf5gzfeyuwatfndierq

Towards an Intelligent System for Supporting Gesture Acquisition and Reproduction in Humanoid Robots (S)

Alfredo Cuzzocrea, Giovanni Pilato
2020 Proceedings of the 26th International Conference on Distributed Multimedia Systems  
In this paper, an intelligent system for supporting gesture acquisition and reproduction in humanoid robots, which is based on the well-known Microsoft Kinect framework, is introduced and discussed in  ...  The idea that has inspired the paper is represented by endowing an humanoid robot with the capability to mimic the motion of a human user in real time.  ...  Meanwhile, Sylvain Filiatrault and Ana-Maria Cretu [12] used sensor Kinect to mimic the motion of a human arm to an NAO humanoid robot.  ... 
doi:10.18293/dmsviva20-017 dblp:conf/dms/CuzzocreaP20 fatcat:ww3gtodtjbenrdma3rsudra4ey

Human–Robot Interaction by Understanding Upper Body Gestures

Yang Xiao, Zhijun Zhang, Aryel Beck, Junsong Yuan, Daniel Thalmann
2014 Presence - Teleoperators and Virtual Environments  
In this paper, a human-robot interaction system based on a novel combination of sensors is proposed. It allows one person to interact with a humanoid social robot using natural body language.  ...  In order to generate appropriate dynamic motion, a quadratic programming (QP) based dual-arms kinematic motion generation scheme is proposed, and a simplified recurrent neural network is employed to solve  ...  Acknowledgements This work partially carried out at BeingThere Center is supported by IMI Seed Grant Appendices The demonstration video of this paper can be viewed at  ... 
doi:10.1162/pres_a_00176 fatcat:7c2f5q3szvhxfjj2s4p3abwcx4

Real-Time Whole-Body Imitation by Humanoid Robots and Task-Oriented Teleoperation Using an Analytical Mapping Method and Quantitative Evaluation

Zhijun Zhang, Yaru Niu, Ziyi Yan, Shuyang Lin
2018 Applied Sciences  
Due to the limitations on the capabilities of current robots regarding task learning and performance, imitation is an efficient social learning approach that endows a robot with the ability to transmit  ...  In this paper, a novel comprehensive and unrestricted real-time whole-body imitation system for humanoid robots is designed and developed.  ...  However, the ability to control a humanoid robot with a high degree of freedom using a traditional controller or through preprogramming based on human experience strongly depends on the operation skills  ... 
doi:10.3390/app8102005 fatcat:dpekfrrmqbeo3lfemakxeaecm4

Wireless Kinect-NAO Framework Based on Takagi-Sugeno Fuzzy Inference System

A. Lekova, A. Krastev, I. Chavdarov
2017 Information Technologies and Control  
The joint angles estimation for motion mapping of Human to NAO movements is based on fuzzy logic and featured angles rather than direct angles are calculated by Inverse Kinematics due to differences in  ...  the human and robot kinematics.  ...  Tracking the human motion is an attempt a kinematic model of the robot to be recovered from the video sequences and to be an input for the kinematic modules of the robot.  ... 
doi:10.1515/itc-2017-0023 fatcat:dw4z3gjflfaqtj2kuhgd2gnl4m

Application of Imitation Control and Foot Sensors to Bipedal Robot Walking

Hee-Jung Byun, Su Goog Shon
2014 International Journal of Control and Automation  
In this paper a method that allows for the control of a humanoid robot with foot sensors through an imitation control approach is presented.  ...  Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics).  ...  This article is a revised and expanded version of a paper entitled Control Communication and Application of Foot Sensor on Imitation presented at the 2014 International Conference on Future Information  ... 
doi:10.14257/ijca.2014.7.9.19 fatcat:p7l7oup7nfedfhlitpucdastw4

Research on robot boxing movement simulation based on kinect sensor

Peicong Li
2020 EURASIP Journal on Wireless Communications and Networking  
The improvement of robot intelligence is a process of continuous learning of external knowledge.  ...  In the process of continuous development, robot technology has been widely used in aerospace, medical, education, and service industries, and the relationship between robots and people is getting closer  ...  Then the robot kinematics equation can be used to obtain the robot's end pose matrix. Brain robot motion control system Brain is a humanoid robot developed by Aldebaran of France.  ... 
doi:10.1186/s13638-020-01761-x fatcat:xdrzvcwevjd3vhettmk3hh45du

Piaget for the Smart Control of Complex Robotized Applications in Industry

Hayato Omori, Jean-Daniel Dessimoz, Hiroki Tomori, Taro Nakamura, Hisashi Osumi
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
An industrial case is studied, involving multiple, otherwise independent, commercially available subsystems, such as industrial robot arm, PLC, IP camera or joint controller.  ...  This perfectly reflects fundamental constraints in closed-loop control, which occurs in numerous instances for a smart system.  ...  Consider the agility of a control system Ac, and the agility of the system to be controlled As. Agility is the inverse of response time.  ... 
doi:10.5220/0004425405280535 dblp:conf/icinco/OmoriDTNO13 fatcat:mkplfpd52ndurnlexolozq4riq

Bypassing the Natural Visual-Motor Pathway to Execute Complex Movement Related Tasks Using Interval Type-2 Fuzzy Sets

Anwesha Khasnobish, Amit Konar, D. N. Tibarewala, Atulya K. Nagar
2017 IEEE transactions on neural systems and rehabilitation engineering  
well-known inverse kinematics approach.  ...  The robot arm is here employed as a rehabilitative aid in order to move each link end-points to the desired locations in the reference coordinate system by appropriately activating its links using the  ...  The first author also acknowledges the funding she received from CSIR, India in pursuance of her Ph.D. (Engineering) degree at Jadavpur University, Calcutta, India.  ... 
doi:10.1109/tnsre.2016.2580580 pmid:27323367 fatcat:wl66ab2skrblbk6lyqgcxm4npi

User evaluation of a novel eye-based control modality for robot-assisted object retrieval

S. Li, J. Webb, X. Zhang, C. A. Nelson
2017 Advanced Robotics  
This paper presents a novel intuitive gaze-based system, which enables a user to effectively command an assistive robot with his/her gaze.  ...  Moreover, results from subjective evaluation showed high usability of the presented system.  ...  In [36] [37] [38] , gaze was used to define the concentration area of a robotic laparoscope system, and inverse kinematics of the robot was calculated to drive the robot to concentrate on that area.  ... 
doi:10.1080/01691864.2016.1271748 fatcat:cegjvcq43ngrhaqxejs5kxsyd4

Cognitive Robotics in Industrial Environments [chapter]

Stephan Puls, Jrgen Graf, Heinz Wr
2012 Human Machine Interaction - Getting Closer  
To overcome the problem of finding the inverse kinematics for the arm model the authors suggest a solution based on the so-called annealed particle filter approach.  ...  In (Tenorth & Beetz, 2009 ), a system is presented, which uses Prolog in order to process knowledge in the context of robotic control. It is especially designed for use with personal robots.  ...  The second section is devoted to different aspects of interaction, with a special emphasis on the physical interaction.  ... 
doi:10.5772/28130 fatcat:7dj2xoykwnd7fhcmx2o4f4nha4

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
Personal use of this material is permitted.  ...  works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  ACKNOWLEDGMENTS The authors thank the valuable assistance of João Rodrigues in the development of the work reported in this paper.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure

Vincent Bonnet, Philippe Fraisse, Andre Crosnier, Maxime Gautier, Alejandro Gonzalez, Gentiane Venture
2016 IEEE Transactions on robotics  
Knowledge of the mass and inertial parameters of a humanoid robot or a human being is crucial for the development of model-based control as well as for monitoring the rehabilitation process.  ...  The method has been experimentally validated onto a HOAP-3 humanoid robot and with one human subject.  ...  Even when using balance controllers based on a simplified linear inverted pendulum, the performance of the controller depends on the standard inertial parameters (SIP) used to estimate the position of  ... 
doi:10.1109/tro.2016.2583062 fatcat:vq7ozdp66zhplb7gs7tq5vtbxq
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