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Expanding task functionality in established humanoid robots

Victor Ng-Thow-Hing, Evan Drumwright, Kris Hauser, Qingquan Wu, Joel Wormer
2007 2007 7th IEEE-RAS International Conference on Humanoid Robots  
Many humanoids robots like ASIMO are built to potentially perform more than one type of task.  ...  For the planning and generation of motion on the robot, the Task Matrix embodies a task abstraction model that maps a high level task description into its primitive motions realizable on the robot.  ...  This allows a robot to dynamically switch control architectures depending on the task mode it is in.  ... 
doi:10.1109/ichr.2007.4813860 dblp:conf/humanoids/Ng-Thow-HingDHWW07 fatcat:hx3tsut2vfebfeiud3dnrdgs4i

A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios [chapter]

Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos G. Tsagarakis, Antonio Bicchi
2014 Lecture Notes in Computer Science  
The mid-level control generates tasks in cartesian space, based on the position and orientation of objects of interest (i.e. valve, door handle) w.r.t. a reference frame on the robot.  ...  In the present work we have designed and implemented a modular, robust and user-friendly Pilot Interface meant to control humanoid robots in rescue scenarios during dangerous missions.  ...  Acknowledgments Research leading to these results has received funding from the European Union Seventh Framework Programme [FP7-ICT-2013-10] under grant agreements n.611832 WALKMAN.  ... 
doi:10.1007/978-3-319-13823-7_18 fatcat:77vhcmtvafakxctksenhwux3mu

Coordinated Task Execution for Humanoid Robots [chapter]

T. Asfour, D.N. Ly, K. Regenstein, R. Dillmann
2006 Springer Tracts in Advanced Robotics  
This paper presents a framework for the coordinated execution of tasks in robotic systems with a high degree of freedom such as humanoid robots.  ...  From the kinematics control point of view, the robot consists of five subsystems:  ...  Introduction Our current research interest is the development of a control architecture to achieve manipulation task goals for a humanoid robot.  ... 
doi:10.1007/11552246_25 fatcat:gwfifknttjgjziqg6pgrelr3ti

Cognitive Tools for Humanoid Robots in Space

Donald Sofge, Dennis Perzanowski, Marjorie Skubic, Magdalena Bugajska, J. Gregory Trafton, Nicholas Cassimatis, Derek Brock, William Adams, Alan Scbultz
2004 IFAC Proceedings Volumes  
The effective use of humanoid robots in space will depend upon the efficacy of interaction between humans and robots.  ...  This requires that a number of basic capabilities be incorporated into the robot, including voice recognition, natural language, and cognitive tools on-board the robot to facilitate interaction between  ...  ACKNOWLEDGEMENTS Support for this effort was provided by the DARPA IPTO Mobile Autonomous Robot Software (DARPA MARS) Program.  ... 
doi:10.1016/s1474-6670(17)32199-7 fatcat:mmzrutoa6vaorhx2lmv2biiiky

Cognitive map architecture

Victor Ng-Thow-Hing, Kristinn R. Thorisson, Ravi Kiran Sarvadevabhatla, Joel A. Wormer, Thor List
2009 IEEE robotics & automation magazine  
Keywords Robot architecture, humanoid robots, communication middleware, Cognitive Map.  ...  control of humanoid robots.  ...  Rather than enforcing a single control paradigm for all tasks, the Task Matrix allows tailored controllers for different tasks, which is important for humanoid robots.  ... 
doi:10.1109/mra.2008.931634 fatcat:2qnvfwojdfe6lhtj3mxkkwr7yi

Human-Robot Interaction and Neuroprosthetics: A review of new technologies

Angelo Cangelosi, Sara Invitto
2017 IEEE Consumer Electronics Magazine  
The aim of this review is to analyze this innovative path through the description of some of the latest neuroprosthetics and human-robot interaction applications, in particular the Brain Computer Interface  ...  New technologies in the field of neuroprosthetics and robotics are leading to the development of innovative commercial products based on user-centered, functional processes of cognitive neuroscience and  ...  The SpiNNaker architecture has been integrated with a SNN model of attention to control goal-directed selective attention in the humanoid robot iCub [47] .  ... 
doi:10.1109/mce.2016.2614423 fatcat:k5mmqjz5ifc6fm63fg6smglgoq

Web Based Teleoperation of a Humanoid Robot [article]

Chien Liang Fok, Fei Sun, Matt Mangum, Al Mok, Binghan He, Luis Sentis
2016 arXiv   pre-print
The implementation serves as a proof-of-concept and foundation upon which many advanced humanoid robot technologies can be researched and developed.  ...  The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body controller and web-based teleoperation to enable any device with a web browser to access and control a humanoid robot.  ...  For example, common tasks include 6DOF Cartesian position and orientation control of a point on the robot.  ... 
arXiv:1607.05402v1 fatcat:vqiqy5rvf5gg5lxkclcenr2elu

Whole-Body Geometric Retargeting for Humanoid Robots [article]

Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2019 arXiv   pre-print
This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model.  ...  Furthermore, we present experimental validation through teleoperation experiments using two state-of-the-art whole-body controllers for humanoid robots.  ...  the Cartesian tasks and the postural tasks, using the stack-of-tasks paradigm implemented through a quadratic programming (QP) formalism.  ... 
arXiv:1909.10080v1 fatcat:3mnuh5xgh5gaxc4pycwipgrb2e

ISAC: foundations in human-humanoid interaction

K. Kawamura, R.A. Peters, D.M. Wilkes, W.A. Alford, T.E. Rogers
2000 IEEE Intelligent Systems and their Applications  
AT THE INTELLIGENT ROBOTICS Laboratory of Vanderbilt University's Center for Intelligent Systems, over the past several years we have been developing a humanoid system called Intelligent Soft-Arm Control  ...  , we developed a flexible architecture for parallel, distributed robot control; a framework for robust HHI; and a control system that will let ISAC learn.  ...  Acknowledgments The DARPA Mobile Autonomous Robotics Systems program partially funded this work.  ... 
doi:10.1109/5254.867911 fatcat:rjsiipjibrbuvabsbomosnlesq

Biologically-Inspired Design of Humanoids [chapter]

Xie M., Xian L., Wang L., Li J.
2009 Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions  
128 Acknowledgements The authors would like to thank the project sponsor.  ...  In particular, the guidance and advices from Lim Kian Guan, Cheng Wee Kiang, Ngiam Li Lian and New Ai Peng are greatly appreciated.  ...  In near future, it is necessary to design a humanoid robot which incorporates the blueprint of cognitive linguistics (yet to be discovered) so that it can gain the awareness of next tasks through the use  ... 
doi:10.5772/6991 fatcat:b365vbvjpjh6fgyxzqcfn6pkqq

Cloud-assisted humanoid robotics for affective interaction

Yujun Ma, Yixue Hao, Yongfeng Qian, Min Chen
2016 2016 2nd International Conference on Control, Automation and Robotics (ICCAR)  
In this paper, we propose a cloud-assisted humanoid robotics for affective interaction system architecture, and introduce the essential composition, design and implementation of related components.  ...  Finally, through an actual robot emotional interaction test platform, validating the feasibility and extendibility of proposed architecture.  ...  Through the network, many robots are connected to form a networked robot system to accomplish more computing intensive tasks.  ... 
doi:10.1109/iccar.2016.7486690 fatcat:pv7ijviltng2bhykplkf7js4my

Multiple humanoid cooperative control system for heterogeneous humanoid team

Heonyoung Lim, Yeonsik Kang, Joongjae Lee, Jongwon Kim, Bum-Jae You
2008 RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication  
This paper presents a multiple humanoid cooperative control system(MHCCS) developed for the demonstration of heterogeneous humanoid collaborating to complete a mission consists of multiple humanoid tasks  ...  The developed MHCCS is successfully tested through the demonstration of a heterogeneous humanoid team cleaning the tables without confliction.  ...  Software Architecture Fig. 4 shows a diagram of the Mission, Task and Action layer and the essential components in the multiple humanoid cooperative control software.  ... 
doi:10.1109/roman.2008.4600671 dblp:conf/ro-man/LimKL0Y08 fatcat:awgulowcazdytmv3lvxy7n55j4

Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion [chapter]

Frank Kirchner, Sebastian Bartsch, Jose DeGe
2007 Humanoid Robots: New Developments  
Fig. 2 . 2 The Robot BIN-HUR based on Kondo's KHR-1. Fig. 4 . 4 The control cycle for balance control. Fig. 5 . 5 Implementation of the low-level control concept on the humanoid robot.  ...  figure 1) is a humanoid robot developed by the NASA with the aim of replacing a human astronaut in EVA tasks (outside the vehicle).  ...  This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots.  ... 
doi:10.5772/4883 fatcat:v6yzlo6i3nch5jqf5b3zlzy5ii

IMPLEMENTATION OF COGNITIVE CONTROL FOR A HUMANOID ROBOT

KAZUHIKO KAWAMURA, STEPHEN M. GORDON, PALIS RATANASWASD, ERDEM ERDEMIR, JOSEPH F. HALL
2008 International Journal of Humanoid Robotics  
This paper outlines the features of multiagent-based cognitive architecture for a humanoid robot and the progress made toward the realization of cognitive control functionalities using attention, working  ...  Several experiments have been conducted to show that the implementation of an integrated cognitive robot architecture is feasible.  ...  This work is supported in part under NSF grant EIA0325641, "ITR: A Biologically Inspired Adaptive Working Memory System for Efficient Robot Control and Learning."  ... 
doi:10.1142/s0219843608001558 fatcat:5nqfldvm5zbehbxqtazgj5y5te

Computational Modeling of Prefrontal Cortex for Meta-Cognition of a Humanoid Robot

Evren Daglarli
2020 IEEE Access  
These require recursive task processing and meta-cognitive reasoning mechanism. Naturally, the human brain realizes these cognitive skills by prefrontal cortex which is a part of the neocortex.  ...  In this study, we present a novel solution that covers a computational model of the prefrontal cortex for humanoid robots.  ...  EXPERIMENTAL SETUP AND IMPLEMENTATION In this study, the main experiment platform is a Bioloid humanoid robot of Robotis (Figure 7) [89].  ... 
doi:10.1109/access.2020.2998396 fatcat:p37fba6frbdbzkbrdepllwauwi
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