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Humanoid Robots

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Humanoid Robots

Humanoid Robots Book
Author : Dragomir N. Nenchev,Atsushi Konno,Teppei Tsujita
Publisher : Butterworth-Heinemann
Release : 2018-11-21
ISBN : 0128045825
Language : En, Es, Fr & De

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Book Description :

Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips

Humanoid Robotics A Reference

Humanoid Robotics  A Reference Book
Author : Prahlad Vadakkepat,AMBARISH GOSWAMI
Publisher : Springer
Release : 2017-02-14
ISBN : 9789400760455
Language : En, Es, Fr & De

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Book Description :

Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Collaborative and Humanoid Robots

Collaborative and Humanoid Robots Book
Author : Jesus Hamilton Ortiz,Ramana Vinjamuri
Publisher : BoD – Books on Demand
Release : 2021-09-29
ISBN : 1839687398
Language : En, Es, Fr & De

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Book Description :

Collaborative and Humanoid Robots guides readers through the fundamentals and state-of-the-art concepts and future expectations of robotics. It showcases interesting research topics on robots and cobots by researchers, industry practitioners, and academics. Divided into two sections on “Collaborative Robots” and “Humanoid Robots,” this book includes surveys of recent publications that investigative the interaction between humanoid robots and humans; safe adaptive trajectory tracking control of robots; 3D printed, self-learning robots; robot trajectory, guidance, and control; social robots; Tiny Blind assistive humanoid robots; and more.

Introduction to Humanoid Robotics

Introduction to Humanoid Robotics Book
Author : Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi
Publisher : Springer
Release : 2014-07-15
ISBN : 364254536X
Language : En, Es, Fr & De

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Book Description :

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Build Your Own Humanoid Robots

Build Your Own Humanoid Robots Book
Author : Karl Williams
Publisher : McGraw-Hill/TAB Electronics
Release : 2004-03-23
ISBN : 9780071422741
Language : En, Es, Fr & De

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Book Description :

Download Build Your Own Humanoid Robots book written by Karl Williams, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Human Robotics

Human Robotics Book
Author : Etienne Burdet,David W. Franklin,Theodore E. Milner
Publisher : MIT Press
Release : 2018-05-04
ISBN : 0262536412
Language : En, Es, Fr & De

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Book Description :

A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system. This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one. The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living. The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.

Humanoid Robotics and Neuroscience

Humanoid Robotics and Neuroscience Book
Author : Gordon Cheng
Publisher : CRC Press
Release : 2014-12-19
ISBN : 1420093673
Language : En, Es, Fr & De

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Book Description :

Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering—one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscience: Science, Engineering and Society presents the contributions of prominent scientists who explore key aspects of the further potential of these systems. Topics include: Neuroscientific research findings on dexterous robotic hand control Humanoid vision and how understanding the structure of the human eye can lead to improvements in artificial vision Humanoid locomotion, motor control, and the learning of motor skills Cognitive elements of humanoid robots, including the neuroscientific aspects of imitation and development The impact of robots on society and the potential for developing new systems and devices to benefit humans The use of humanoid robotics can help us develop a greater scientific understanding of humans, leading to the design of better engineered systems and machines for society. This book assembles the work of scientists on the cutting edge of robotic research who demonstrate the vast possibilities in this field of research.

Motion Planning for Humanoid Robots

Motion Planning for Humanoid Robots Book
Author : Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi
Publisher : Springer Science & Business Media
Release : 2010-08-12
ISBN : 1849962200
Language : En, Es, Fr & De

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Book Description :

Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Humanoid Robots

Humanoid Robots Book
Author : Armando Carlos De Pina Filho
Publisher : BoD – Books on Demand
Release : 2007-06-01
ISBN : 3902613009
Language : En, Es, Fr & De

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Book Description :

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. 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. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion.

Evolutionary Humanoid Robotics

Evolutionary Humanoid Robotics Book
Author : Malachy Eaton
Publisher : Springer
Release : 2015-02-02
ISBN : 3662445999
Language : En, Es, Fr & De

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Book Description :

This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

Toward Humanoid Robots The Role of Fuzzy Sets

Toward Humanoid Robots  The Role of Fuzzy Sets Book
Author : Cengiz Kahraman,Eda Bolturk
Publisher : Springer Nature
Release : 2021-04-04
ISBN : 3030671631
Language : En, Es, Fr & De

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Book Description :

This book offers a comprehensive reference guide for modeling humanoid robots using intelligent and fuzzy systems. It provides readers with the necessary intelligent and fuzzy tools for controlling humanoid robots by incomplete, vague, and imprecise information or insufficient data, where classical modeling approaches cannot be applied. The respective chapters, written by prominent researchers, explain a wealth of both basic and advanced concepts including fuzzy control, metaheuristic-based control, neutrosophic control, etc. To foster reader comprehension, all chapters include relevant numerical examples or case studies. Taken together, they form an excellent reference guide for researchers, lecturers, and postgraduate students pursuing research on humanoid robots. Moreover, by extending all the main aspects of humanoid robots to its intelligent and fuzzy counterparts, the book presents a dynamic snapshot of the field that is expected to stimulate new directions, ideas, and developments.

The Future of Humanoid Robots

The Future of Humanoid Robots Book
Author : Riadh Zaier
Publisher : BoD – Books on Demand
Release : 2012-01-20
ISBN : 9533079517
Language : En, Es, Fr & De

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Book Description :

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R

Online Learning in Humanoid Robots

Online Learning in Humanoid Robots Book
Author : Jörg Conradt
Publisher : diplom.de
Release : 2001-12-27
ISBN : 3832448586
Language : En, Es, Fr & De

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Book Description :

Inhaltsangabe:Abstract: Humanoid Robotic Systems have gained an increasing significance in the research world within the last few years. Just five years ago, there were hardly any human-like robots in the world, and those available did not represent human properties at all. They neither looked nor behaved like human beings. Today, a variety of research groups around the world is starting to work on topics related to humanoid robots, and it is very likely that these robots will become important within the upcoming decades even beyond the realm of science. Trying to determine what humanoid robots are, a first draft of a definition might read as follows: such robots are to be called humanoid robots which - to some extent - are able to live and interact with the everyday human world, and represent certain human features, like cognitive or acting abilities. The main strength of such humanoid robots lies in their ability to operate in surroundings that have been designed for humans in the first place. Humanoid robots can be imagined to become useful assistants for every-day life in areas as diverse as: - Rescue and clearing of dangerous situations. - Janitorial services, Housekeeping. - Security services. - Care-taking in hospitals, recreational facilities. - Entertainment. In all these fields, close human interaction is a core issue and can be regarded as the minimum common basis. The interaction happens on many different levels, from physical touch to gesture recognition and the processing of spoken language. On cognitive issues like the two last named, much research has been done in the past few years. One has, however, to keep in mind that also the physical appearance, e.g. smoothness of motions, is an important issue when designing humanoid robots. Inhaltsverzeichnis:Table of Contents: FOREWORD1 1.INTRODUCTION2 1.1INTRODUCING THE AREA OF HUMANOID ROBOTICS2 1.2MECHANICAL DESIGN FOR HUMANOID ROBOTS3 1.3CONTROLLING HUMANOID ROBOTS4 1.4EXAMPLES OF TODAY'S HUMANOID ROBOTS5 1.5THE PURPOSE OF THE THESIS9 2.A BRIEF RECAPITULATION OF BASIC ROBOT CONTROL10 2.1INTRODUCTION TO ROBOT CONTROL10 2.2CONTROLLING THE EXECUTION OF DESIRED TRAJECTORIES12 2.3THE FEEDBACK CONTROL FUNCTION14 2.4THE FEED-FORWARD CONTROL FUNCTION17 2.5ESTIMATING DYNAMICS USING RIGID BODY ASSUMPTIONS18 2.6RECAPITULATION22 2.7CONTROL OF HUMANOID ROBOTS23 3.INTRODUCTION TO ROBOT LEARNING25 3.1GENERAL REMARKS ON ROBOT LEARNING25 3.2THE BIAS / VARIANCE [...]

Consciousness in Humanoid Robots

Consciousness in Humanoid Robots Book
Author : Antonio Chella,Angelo Cangelosi,Giorgio Metta,Selmer Bringsjord
Publisher : Frontiers Media SA
Release : 2019-06-05
ISBN : 2889458660
Language : En, Es, Fr & De

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Book Description :

Building a conscious robot is a scientific and technological challenge. Debates about the possibility of conscious robots and the related positive outcomes and hazards for human beings are today no longer confined to philosophical circles. Robot consciousness is a research field aimed at a two-part goal: on the one hand, scholars working in robot consciousness take inspiration from biological consciousness to build robots that present forms of experiential and functional consciousness. On the other hand, scholars employ robots as tools to better understand biological consciousness. Thus, part one of the goal concerns the replication of aspects of biological consciousness in robots, by unifying a variety of approaches from AI and robotics, cognitive robotics, epigenetic and affective robotics, situated and embodied robotics, developmental robotics, anticipatory systems, and biomimetic robotics. Part two of the goal is pursued by employing robots to advance and mark progress in the study of consciousness in humans and animals. Notably, neuroscientists involved in the study of consciousness do not exclude the possibility that robots may be conscious. This eBook comprises a collection of thirteen manuscripts and an Editorial published by Frontiers in Robotics and Artificial Intelligence, under the section Humanoid Robotics, and Frontiers in Neurorobotics, on the topic “Consciousness in Humanoid Robots.” This compendium aims at collating the most recent theoretical studies, models, and case studies of machine consciousness that take the humanoid robot as a frame of reference. The content in the articles may be applied to many different kinds of robots, and to software agents as well.

Whole Body Control for Multi Contact Balancing of Humanoid Robots

Whole Body Control for Multi Contact Balancing of Humanoid Robots Book
Author : Bernd Henze
Publisher : Springer Nature
Release : 2021-11-03
ISBN : 3030872122
Language : En, Es, Fr & De

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Book Description :

This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.

Visual Perception for Humanoid Robots

Visual Perception for Humanoid Robots Book
Author : David Israel González Aguirre
Publisher : Springer
Release : 2018-09-01
ISBN : 3319978411
Language : En, Es, Fr & De

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Book Description :

This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

The DARPA Robotics Challenge Finals Humanoid Robots To The Rescue

The DARPA Robotics Challenge Finals  Humanoid Robots To The Rescue Book
Author : Matthew Spenko,Stephen Buerger,Karl Iagnemma
Publisher : Springer
Release : 2018-04-09
ISBN : 3319746669
Language : En, Es, Fr & De

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Book Description :

The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015. The competition was the culmination of 33 months of demanding work by 23 teams and required humanoid robots to perform challenging locomotion and manipulation tasks in a mock disaster site. The challenge was conceived as a response to the Japanese Fukushima nuclear disaster of March 2011. The Fukushima disaster was seen as an ideal candidate for robotic intervention since the risk of exposure to radiation prevented human responders from accessing the site. This volume, edited by Matthew Spenko, Stephen Buerger, and Karl Iagnemma, includes commentary by the organizers, overall analysis of the results, and documentation of the technical efforts of 15 competing teams. The book provides an important record of the successes and failures involved in the DARPA Robotics Challenge and provides guidance for future needs to be addressed by policy makers, funding agencies, and the robotics research community. Many of the papers in this volume were initially published in a series of special issues of the Journal of Field Robotics. We have proudly collected versions of those papers in this STAR volume.

Intelligence and Safety for Humanoid Robots Design Control and Applications

Intelligence and Safety for Humanoid Robots  Design  Control  and Applications Book
Author : Zhihong Tian,Zhaoquan Gu,Yanhua Li,Wei Shi,Keke Tang,Zheng Wang
Publisher : Frontiers Media SA
Release : 2022-02-07
ISBN : 2889742881
Language : En, Es, Fr & De

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Book Description :

Download Intelligence and Safety for Humanoid Robots Design Control and Applications book written by Zhihong Tian,Zhaoquan Gu,Yanhua Li,Wei Shi,Keke Tang,Zheng Wang, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Whole Body Impedance Control of Wheeled Humanoid Robots

Whole Body Impedance Control of Wheeled Humanoid Robots Book
Author : Alexander Dietrich
Publisher : Springer
Release : 2016-07-02
ISBN : 3319405578
Language : En, Es, Fr & De

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Book Description :

Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.

Artificial Intelligence and Humanoid Robots

Artificial Intelligence and Humanoid Robots Book
Author : Alicia Z. Klepeis
Publisher : Capstone Press
Release : 2019
ISBN : 1543554733
Language : En, Es, Fr & De

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Book Description :

Robots that talk and act human are the ultimate artificial intelligence (AI) turning point. We are closer than ever to making it reality. Learn how robots have changed over time and how these advances bring complicated ethical issues. Bring Science, Technology, Engineering, Art, and Math (STEAM) to your reluctant readers with a topic they will gravitate toward. Fans of augmented reality will love the Capstone 4D augmented reading experience. Get bonus videos via the Capstone 4D app or web browser and go beyond the printed page!