NATURAL BEHAVIOR GENERATION FOR HUMANOID ROBOTS

2004 ◽  
Vol 01 (04) ◽  
pp. 637-649
Author(s):  
TAKAHIRO MIYASHITA ◽  
HIROSHI ISHIGURO
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Communication Behavior ◽  
Hybrid Generation ◽  
Natural Behavior ◽  
Hybrid Controller ◽  
Wheeled Inverted Pendulum ◽  
Almost All ◽  
Task Oriented

Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propose a natural behavior generation method for humanoid robots that is a hybrid generation between voluntary and involuntary motions. The key idea of our method is to control robots with a hybrid controller that combines the functions of a communication behavior controller and body balancing controllers. We also develop a wheeled inverted pendulum type of humanoid robot, named "Robovie-III," in order to generate involuntary motions like oscillation. This paper focuses on the system architecture of this robot. By applying our method to this robot and conducting preliminary experiments, we verify its validity. Experimental results show that the robot generates both voluntary and involuntary motions.

A Control System for a Flexible Spine Belly-Dancing Humanoid

2006 ◽  
Vol 12 (1) ◽  
pp. 63-88 ◽  
Author(s):  
Jimmy Or
Keyword(s):  
Central Pattern Generator ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Degree Of Freedom ◽  
Rhythmic Movements ◽  
Walking Machines ◽  
Belly Dancing ◽  
Almost All ◽  
High Degree

Recently, there has been a lot of interest in building anthropomorphic robots. Research on humanoid robotics has focused on the control of manipulators and walking machines. The contributions of the torso towards ordinary movements (such as walking, dancing, attracting mates, and maintaining balance) have been neglected by almost all humanoid robotic researchers. We believe that the next generation of humanoid robots will incorporate a flexible spine in the torso. To meet the challenge of controlling this kind of high-degree-of-freedom robot, a new control architecture is necessary. Inspired by the rhythmic movements commonly exhibited in lamprey locomotion as well as belly dancing, we designed a controller for a simulated belly-dancing robot using the lamprey central pattern generator. Experimental results show that the proposed lamprey central pattern generator module could potentially generate plausible output patterns, which could be used for all the possible spine motions with minimized control parameters. For instance, in the case of planar spine motions, only three input parameters are required. Using our controller, the simulated robot is able to perform complex torso movements commonly seen in belly dancing as well. Our work suggests that the proposed controller can potentially be a suitable controller for a high-degree-of-freedom, flexible spine humanoid robot. Furthermore, it allows us to gain a better understanding of belly dancing by synthesis.

Motion Planning for Humanoid Robots in Complex Environments Based on Stance Sequence and ZMP Reference

2012 ◽  
Vol 197 ◽  
pp. 415-422 ◽  
Author(s):  
Hong Liu ◽  
Qing Sun
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Complex Environments ◽  
Inverted Pendulum Model ◽  
Walking Pattern ◽  
Pendulum Model ◽  
Novel Method ◽  
Zero Moment

It is a great challenge to plan motion for humanoid robots in complex environments especially when the terrain is cluttered and discrete. To address this problem, a novel method is proposed in this paper by planning the gait according to the stance sequence and ZMP (Zero Moment Point) reference. It consists of two components: an adaptive footstep planner and a walking pattern generator. The adaptive footstep planner can generate the stance path according to the walking rules and adjust the orientation of body relevantly. As the footstep locations are determined, Linear Inverted Pendulum Model (LIPM) is used to generate the walking pattern with a moving ZMP reference. As demonstrated in experiments on the humanoid robot HOAP-2, our method can successfully plan footstep trajectories as well as generate the stable and natural-looking gait in typical cluttered and discrete environments.

A generic walking pattern generation method for humanoid robot walking on the slopes

2016 ◽  
Vol 43 (3) ◽  
pp. 317-327 ◽  
Author(s):  
Fayong Guo ◽  
Tao Mei ◽  
Marco Ceccarelli ◽  
Ziyi Zhao ◽  
Tao Li ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
3D Models ◽  
Pattern Generation ◽  
Motion Equations ◽  
Content Type ◽  
Walking Pattern ◽  
Landing Impact ◽  
Walking Pattern Generation

Purpose Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope. Design/methodology/approach First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact. Findings Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots. Originality/value A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.

scholarly journals A minimized falling damage method for humanoid robots

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141772801 ◽  
Author(s):  
Qingqing Li ◽  
Xuechao Chen ◽  
Yuhang Zhou ◽  
Zhangguo Yu ◽  
Weimin Zhang ◽  
...  
Keyword(s):  
Motion Capture ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Living Environment ◽  
Second Phase ◽  
Leg Length ◽  
Heuristic Strategy ◽  
Two Phases ◽  
The Impact

In order to better adapt to human living environment for improving the ability of serving people on various occasions, humanoid robots need to prevent themselves from being severely damaged during falling backward. In this article, we have study the law of human falling motion with a motion capture system and propose a minimized falling damage method for humanoid robots. Falling backward is divided into two phases: the falling phase and the touchdown phase. The parametric optimal strategy based on inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. In the second phase, to prevent the robot from bouncing and rolling over, the heuristic strategy including the best ratio of leg length inspired by biomechanical is adopted. The experiments have been tested on the BIT Humanoid Robot 6 prototype platform and the presented method has been validated.

THE ROLE OF SELF-CONSTRUAL ON PREFERRED COMMUNICATION STYLES WITH HUMANOID ROBOTS

2011 ◽  
Vol 08 (02) ◽  
pp. 359-374 ◽  
Author(s):  
MIN-SUN KIM ◽  
LI GONG ◽  
NICOLE SAITO ◽  
KIMBERLY NISHIGAYA ◽  
MARJORIE CABICO ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Communication Styles ◽  
Communication Constraints ◽  
Human Communication ◽  
Individual Level ◽  
Self Construal ◽  
The Individual ◽  
Task Oriented ◽  
And Task

Research on human–human communication has identified that people apply different constraints in communication with each other. Application of such constraints as social concerns over feeling, imposition, and disapproval and task concerns over clarity and effectiveness has also been found to be influenced by people's self-construal, being independent or interdependent. Do these constraints and individual difference in self-construal matter in communication with humanoid robots? This study uses the theoretical framework of communication constraints to compare whether or not people of different self-construals apply social-oriented and task-oriented constraints differently to humanoid social robot targets. A total of 161 students from the University of Hawaii at Manoa participated in the study. The participants completed a questionnaire that determined their concern for the five communication constraints (feelings, nonimposition, disapproval, clarity, and effectiveness) in situations involving robots, as well as scales measuring self-construal. The results show interdependent self-construal related significantly with the concerns over avoiding hurting the humanoid's feelings, avoiding inconveniencing the humanoid robot, and avoiding being disliked by the humanoid robot. On the other hand, independent self-construal related significantly with the concern over clarity in communicating with the humanoid robot. However, self-construal did not influence one's concern of effectiveness (a task-oriented constraint) in interaction with humanoid robots. The results of the research offer new insight into the linkage between self-construal, a cultural concept at the individual level, and how human–robot communication is psychologically structured and constrained.

scholarly journals Humanoid Robot, What is missing?

2018 ◽  
Vol 3 (2) ◽  
pp. 89-95
Author(s):  
Hadjira BELAIDI ◽  
Hamid BENTARZI
Keyword(s):  
Computer Aided Design ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Technological Tools ◽  
Computer Aided ◽  
Almost All ◽  
Aided Design

A humanoid robot is now a reality, which has been very developed. It can do almost all tasks that either the human can do or not as well as the dangerous tasks. The researchers recently develop robots, which can see, smell, smile, speak, touch, walk and talk using the more advanced technological tools such as computer aided design. However, these humanoid robots cannot react as human, so what is missing?, what is about the spirit? Does robot have the spirit? This paper answers these questions and presents imperfection of humanoid robot.

scholarly journals How does a Reactive Behavior of a Wheeled Inverted-Pendulum-Type Humanoid Robot Affect Human Impressions?

2010 ◽  
Vol 28 (9) ◽  
pp. 1110-1119
Author(s):  
Masayuki Kakio ◽  
Takahiro Miyashita ◽  
Noriaki Mitsunaga ◽  
Hiroshi Ishiguro ◽  
Norihiro Hagita
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Wheeled Inverted Pendulum ◽  
Reactive Behavior

scholarly journals BALANCE MOTION PLANNING FOR HUMANOID ROBOT BASED ON 3D INVERTED PENDULUM MODEL

2022 ◽  
Vol 36 (06) ◽  
Author(s):  
DUONG MIEN KA ◽  
TRAN HUU TOAN
Keyword(s):  
Motion Planning ◽  
Dynamic Model ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
The Other ◽  
Three Dimension ◽  
Inverted Pendulum Model ◽  
Pendulum Model

Researches on humanoid robots are alway attractive to many researchers in robotics field. One  of considerable challenges of humanoid robots is to keep balance and stability of their movement. Because a humanoid robot moves by two legs, most of time of the step period of the humanoid robot is be in one leg touching on the floor and the other leg swinging forward. This posture is similar to a three dimension (3D) inverted pendulum model. This papers presents the dynamic model of a 3D inverted pendulum model and applies to balanced motion planning for a humanoid robot. The obtained results show that the robot is able to keep balance during its movements

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