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Toward Intelligent Biped-Humanoids Gaits Generation [chapter]

Nizar Rokbani, Boudour Ammar, Adel M.
2009 Humanoid Robots  
The proposed algorithm is an intelligent evolutionary based on particle swarm optimization paradigm.  ...  In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots.  ...  We essentially detailed our biologically inspired hybrid gaits generation methodology. The proposal is based on particle swarm optimization.  ... 
doi:10.5772/6732 fatcat:nrkqslhg7vablavcw77ub25iii

The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans

Petar Kormushev, Barkan Ugurlu, Luca Colasanto, Nikolaos G. Tsagarakis, Darwin G. Caldwell
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Three real-world experiments are presented: with a compliant bipedal robot, with a stiff humanoid robot, and with a human subject.  ...  An automated approach is proposed which can analyze ground reaction force data from bipedal walking robots and humans.  ...  Yoshikazu Kanamiya and Takumi Aikawa, from Department of Mechanical Systems Engineering at Tokyo City University, for conducting the walking experiments with Fujitsu HOAP-2 robot.  ... 
doi:10.1109/iros.2012.6385467 dblp:conf/iros/KormushevUCTC12 fatcat:upcfzlwoanclpd7cmchyuxkjwi


Dusko Katić, Miomir Vukobratović
2005 IFAC Proceedings Volumes  
algorithms) in the area of humanoid robotic systems.  ...  This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic  ...  In paper (Juang (2000) ), a learning scheme based on a neuro-fuzzy controller to generate walking gaits, is presented.  ... 
doi:10.3182/20050703-6-cz-1902.01276 fatcat:wrzes2vitbf4rkkfn3c6evxuxe

Reinforcement Learning Algorithms in Humanoid Robotics [chapter]

Dusko Katic, Miomir Vukobratovic
2007 Humanoid Robots: New Developments  
In spite of a significant progress and accomplishments achieved in the design of a hardware platform of humanoid robot and synthesis of advanced intelligent control of humanoid robots, a lot of work has  ...  Finally, one ought to point out that the problem of motion of humanoid robots is a very complex control task, especially when the real environment is taken into account, requiring as a minimum, its integration  ...  Aleksandar Rodi for generation of experimental data and realization of humanoid robot modeling and trajectory generation software.  ... 
doi:10.5772/4878 fatcat:brp43tnj35c2lmalaawtv5gv6u

Humanoids [chapter]

Paul Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 Springer Handbook of Robotics  
Passive-Gait-Based Approach Alternative to the ZMP-based approach, researchers have begun to use the principles of bipedal passivedynamic walkers to develop powered bipedal walkers Other Various Locomotion  ...  Human-Like Walking Motion The biped locomotion generated just by using the ZMP may not be a human-like one. Challenge has been done to generate a human-like biped gait of a humanoid robo [67.55].  ... 
doi:10.1007/978-3-319-32552-1_67 fatcat:xgkavbgzmbae7mo4wjdrmivkdu

New Kinematic Parameters for Quantifying Irregularities in the Human and Humanoid Robot Gait

Ivo Stancic, Tamara Grujic Supuk, Mirjana Bonkovic
2012 International Journal of Advanced Robotic Systems  
The proposed gait factor parameter is a valuable measure for the detection of irregularities in gait patterns of humans and humanoid robots.  ...  The gait kinematics was measured using a system based on active markers and fast digital cameras. The experiment included measurements on thirty healthy, barefoot humans while walking on a treadmill.  ...  Application of the proposed method on other cyclic movements like pedalling or rowing is also in option, as well as testing of our proposed method on the analysis of a humanoid gait.  ... 
doi:10.5772/54563 fatcat:a2gqplg7tvby7arfxj4wkhmxiy

Development of the lower limbs for a humanoid robot

Joohyung Kim, Younbaek Lee, Sunggu Kwon, Keehong Seo, HoSeong Kwak, Heekuk Lee, Kyungsik Roh
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper gives an overview of the development of a novel biped walking machine for a humanoid robot, Roboray.  ...  This lower-limb robot is designed as an experimental system for studying biped locomotion based on force and torque controlled joints.  ...  The first machine was a purely passive system based on the ideas of how a ramp walker descends on a slope.  ... 
doi:10.1109/iros.2012.6385728 dblp:conf/iros/KimLKSKLR12 fatcat:zo4hlefoxvajrlm3iyepoxrsyq

The Yoyo-Man

Jean–Paul Laumond, Mehdi Benallegue, Justin Carpentier, Alain Berthoz
2017 The international journal of robotics research  
Ackowledgements: We deeply thank Armel Crétual and Anne-Hélène Olivier from M2S lab, university of Rennes 2, France, for providing the database of captured walking motion.  ...  place the perception, the cognition and the generation of gait.  ...  The most robust one is based on the control of the center of pressure between the feet and the ground allowing humanoid robots to walk on rough terrains.  ... 
doi:10.1177/0278364917693292 fatcat:fy2nketpqvfidaduk4cpdj3pau

A Machine Learning Approach for Improving the Movement of Humanoid NAO's Gaits

Fatmah Abdulrahman Baothman, Deepak Gupta
2021 Wireless Communications and Mobile Computing  
NAO is a humanoid bipedal robot designed to participate in football competitions against humans by 2050, and speed is crucial for football sports.  ...  Therefore, the focus of the paper is on improving NAO speed.  ...  The project is funded by the National Plan for Science, Technology, and Innovation (MAARI-FAH), King Abdulaziz City for Science and Technology, the Kingdom of Saudi Arabia (award number (03-INF188-08))  ... 
doi:10.1155/2021/1496364 fatcat:qp6zh4jnu5etnfek5kl36p3awy

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
The paper introduces a generic interface concept based on exchanging cognitive information between the robot and the user, both present in the same environment.  ...  The gait generation algorithm is based in three periodic wave functions of time, that determine the position in space (x,y,z) of the end of each leg.  ...  We explain how we use a simulated annealing algorithm for calibrating different parametric sets for different ranges of speeds, with the constriction of avoiding discontinuities, and we present our results  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve

Neural model of human gait and its implementation in MATLAB and Simulink Environment using Deep Learning Toolbox

Jerzy Tchórzewski, Arkadiusz Wielgo
2021 Studia Informatica  
The article presents selected results of research on the modeling of humanoid robots, including the results of neural modeling of human gait and its implementation in the environment MATLAB and Simulink  ...  The subject of the research was placed within the scope of the available literature on the subject. Then, appropriate research experiments on human movement along a given trajectory were developed.  ...  Thus, the concept of a humanoid robot is a more general concept than the concept of an intelligent robot.  ... 
doi:10.34739/si.2021.25.03 fatcat:nodjenkft5e23l6srtgu3j3z4q

Qualitative Hybrid Control of Dynamic Bipedal Walking

S. Ramamoorthy, B. Kuipers
2006 Robotics: Science and Systems II  
We present a qualitative approach to the dynamical control of bipedal walking that allows us to combine the benefits of passive dynamic walkers with the ability to walk on uneven terrain.  ...  We demonstrate an online control strategy, synthesizing a stable walking gait along a sequence of irregularly spaced stepping stones.  ...  Research of the Intelligent Robotics lab is supported in part by grants from the National Science Foundation (IIS-0413257 and IIS-0538927), from the National Institutes of Health (EY016089), and by an  ... 
doi:10.15607/rss.2006.ii.012 dblp:conf/rss/RamamoorthyK06 fatcat:bqtekw7yfzfizatiwvpq5afrty

Robotics and Neuroscience

Dario Floreano, Auke Jan Ijspeert, Stefan Schaal
2014 Current Biology  
We argue that robots generate valuable insight into the function of nervous systems, which is intimately linked to behaviour and embodiment, and that brain-inspired algorithms and devices give robots life-like  ...  In the attempt to build adaptive and intelligent machines, roboticists have looked at neuroscience for more than half a century as a source of inspiration for perception and control.  ...  Acknowledgments This work was supported in parts by the Swiss National Center of Competence in Research (NCCR) Robotics, the Max-Planck-Society, and the U.S. National Science Foundation.  ... 
doi:10.1016/j.cub.2014.07.058 pmid:25247370 fatcat:hu6weag6gzg5ncncf5ycmekta4

A novel approach to locomotion learning: Actor-Critic architecture using central pattern generators and dynamic motor primitives

Cai Li, Robert Lowe, Tom Ziemke
2014 Frontiers in Neurorobotics  
In order to demonstrate the learning power of the actor-critic based architecture, we tested it on two experiments: (1) learning to crawl on a humanoid and, (2) learning to gallop on a puppy robot.  ...  In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies.  ...  The former developed a "reshaping" function based on a predefined sum of several variables and the latter proposed a "reshaping" function based on the limited sum of sensory input.  ... 
doi:10.3389/fnbot.2014.00023 pmid:25324773 pmcid:PMC4183130 fatcat:rcs73eq4azg3rltcvwuxxbxl74


Petar Kormushev, Edwin Olson, Ashutosh Saxena, Wataru Takano
2012 Cybernetics and Information Technologies  
Moreover, humanoid robots need to adapt their walking gait based on the environment, for instance to avoid an obstacle the robot needs to adapt its walking gait to take a different step size while keeping  ...  Reinforcement learning This section describes a recently proposed Reinforcement Learning algorithm based on Particle Filters (RLPF) for global search in policy space, which is capable of finding multiple  ...  were generated based on the ZMP approach.  ... 
doi:10.2478/cait-2012-0016 fatcat:ikosrhqlobe7da64pgprx554me
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