Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot

2006 ◽  
Vol 18 (3) ◽  
pp. 286-298 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Functional Modules ◽  
Design And Implementation ◽  
Different Types ◽  
Robot Configuration

This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.

First human–robot archery competition: a new humanoid robot challenge

2020 ◽  
Vol 35 ◽  
Author(s):  
Kuo-Yang Tu ◽  
Hong-Yu Lin ◽  
You-Ru Li ◽  
Che-Ping Hung ◽  
Jacky Baltes
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Special Design ◽  
Design And Development ◽  
Trade Off ◽  
Design And Implementation ◽  
Structure And Motion ◽  
Further Development

Abstract A humanoid robot developed to play multievent athletes like human has paved a way for interesting and popular robotics research. One of the great dreams is to develop a humanoid robot being able to challenge human athletes. Therefore, the challenge of humanoid robots to play archery against human is organized at Taichung, Taiwan, in HuroCup, FIRA 2018, on August 7th. The difficulties of developing humanoid robot are not just on playing archery. The humanoid robots for HuroCup must make use of the same hardware for the 10 events. In this paper, the design and implementation of the humanoid robot for archery are proposed under the trade off with other nine events. Therefore, the humanoid robot must have some special design and development on software. More specially, the humanoid robot must use professional bow to challenge human for archery competition. Therefore, in this paper, special shooting posture under constrained arm structure and motion planning of both arms for more torque to play professional bow are proposed. In addition, the further development of humanoid robot to improve archery shooting is summarized.

Design and Implementation of BIOLOID Humanoid Robot

2014 ◽  
Vol 2 (2) ◽  
pp. 78-93 ◽  
Author(s):  
Hilberto Ayala ◽  
Yujian Fu
Keyword(s):  
Object Detection ◽  
Humanoid Robot ◽  
Body Movement ◽  
Research Work ◽  
Humanoid Robots ◽  
Hardware Architecture ◽  
Robot Design ◽  
Device Management ◽  
Architecture Model ◽  
Design And Implementation

Research in humanoid robot design and implementation is quite challenging due to the complexity of the system and multiple objects involved. Stability, gait generation, navigation and object detection and recognition are all key factors in the humanoid robot design. Researchers in humanoid robot design has put dramatic efforts on one aspect and made assumption on many other aspects. Humanoid robot research involves challenge issues of stability of motion, body movement, navigation, in addition to the issues of path generation, object detection, collision avoidance in the wheeled robots. Rooted from the previous experimental study of wheeled robotics systems, the research project of BIOLOID humanoid robot was started on Fall 2013 and supported by Title III Strengthening Grant Program (HBGI) (DAAD17-02-C-0113). In this paper, we give an overview of the project design and implementation of BIOLOID humanoid robot, including hardware architecture, firmware design and device management, in an overall perspective research work of the motion planning of humanoid robots. In addition, a wide discussion of the issues we faced and challenges of research work is presented, with the results of the current on-going progress. This work will cover the overall hardware architecture, model based system design and behavior analysis using a systematic approach. The work is implemented on a soccer game scenario with a goalie and an offender role. This project has demonstrated a successful development process of collaborative humanoid robotics on a complex research and education platform of BIOLOID using a software engineering approach.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals How the Multiplicity of Suggested Information Affects the Behavior of a User in a Recommender System

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 741
Author(s):  
Yuseok Ban ◽  
Kyungjae Lee
Keyword(s):  
High Precision ◽  
Recommender System ◽  
Visual Information ◽  
Experimental Results ◽  
Supplementary Information ◽  
Digital Platform ◽  
Different Types ◽  
Types Of Information

Many researchers have suggested improving the retention of a user in the digital platform using a recommender system. Recent studies show that there are many potential ways to assist users to find interesting items, other than high-precision rating predictions. In this paper, we study how the diverse types of information suggested to a user can influence their behavior. The types have been divided into visual information, evaluative information, categorial information, and narrational information. Based on our experimental results, we analyze how different types of supplementary information affect the performance of a recommender in terms of encouraging users to click more items or spend more time in the digital platform.

scholarly journals Virtual Loom: a tool for the interactive 3D representation of historical fabrics

2021 ◽  
Author(s):  
Cristina Portalés ◽  
Manolo Pérez ◽  
Pablo Casanova-Salas ◽  
Jesús Gimeno
Keyword(s):  
Art History ◽  
3D Modelling ◽  
Current Version ◽  
Close Collaboration ◽  
Design And Implementation ◽  
Different Types ◽  
Interactive 3D ◽  
Silk Fabrics ◽  
Definition Of ◽  
3D Representations

Abstract3D modelling of man-made objects is widely used in the cultural heritage sector, among others. It is relevant for its documentation, dissemination and preservation. Related to historical fabrics, weaves and weaving techniques are still mostly represented in forms of 2D graphics and textual descriptions. However, complex geometries are difficult to represent in such forms, hindering the way this legacy is transmitted to new generations. In this paper, we present the design and implementation of SILKNOW’s Virtual Loom, an interactive tool aimed to document, preserve and represent in interactive 3D forms historical weaves and weaving techniques of silk fabrics, dating from the 15th to the 19th centuries. To that end, our tool only requires an image of a historical fabric. Departing from this image, the tool automatically subtracts the design, and allows the user to apply different weaves and weaving techniques. In its current version, the tool embeds five traditional weaving techniques, 39 weaves and six types of yarns, which have been defined thanks to close collaboration of experts in computer graphics, art history and historical fabrics. Additionally, users can change the color of yarns and produce different 3D representations for a given fabric, which are interactive in real time. In this paper, we bring the details of the design and implementation of this tool, focusing on the input data, the strategy to process images, the 3D modelling of yarns, the definition of weaves and weaving techniques and the graphical user interface. In the results section, we show some examples of image analysis in order to subtract the design of historical fabrics, and then we provide 3D representations for all the considered weaving techniques, combining different types of yarns.

scholarly journals User-centred design of humanoid robots’ communication

2020 ◽  
Vol 12 (1) ◽  
pp. 58-73
Author(s):  
Sofia Thunberg ◽  
Tom Ziemke
Keyword(s):  
Mental Models ◽  
Participatory Design ◽  
Humanoid Robot ◽  
State Of The Art ◽  
Design Method ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Design Concepts ◽  
Design Ideas

AbstractInteraction between humans and robots will benefit if people have at least a rough mental model of what a robot knows about the world and what it plans to do. But how do we design human-robot interactions to facilitate this? Previous research has shown that one can change people’s mental models of robots by manipulating the robots’ physical appearance. However, this has mostly not been done in a user-centred way, i.e. without a focus on what users need and want. Starting from theories of how humans form and adapt mental models of others, we investigated how the participatory design method, PICTIVE, can be used to generate design ideas about how a humanoid robot could communicate. Five participants went through three phases based on eight scenarios from the state-of-the-art tasks in the RoboCup@Home social robotics competition. The results indicate that participatory design can be a suitable method to generate design concepts for robots’ communication in human-robot interaction.

MOTION PLANNING USING PREDICTED PERCEPTIVE CAPABILITY

2009 ◽  
Vol 06 (03) ◽  
pp. 435-457 ◽  
Author(s):  
PHILIPP MICHEL ◽  
JOEL CHESTNUTT ◽  
SATOSHI KAGAMI ◽  
KOICHI NISHIWAKI ◽  
JAMES J. KUFFNER ◽  
...  
Keyword(s):  
Motion Planning ◽  
Planning Process ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Success Rates ◽  
Perception System ◽  
Task Success

We present an approach to motion planning for humanoid robots that aims to ensure reliable execution by augmenting the planning process to reason about the robot's ability to successfully perceive its environment during operation. By efficiently simulating the robot's perception system during search, our planner utilizes a perceptive capability metric that quantifies the 'sensability' of the environment in each state given the task to be accomplished. We have applied our method to the problem of planning robust autonomous grasping motions and walking sequences as performed by an HRP-2 humanoid. A fast GPU-accelerated 3D tracker is used for perception, with a grasp planner and footstep planner incorporating reasoning about the robot's perceptive capability. Experimental results show that considering information about the predicted perceptive capability ensures that sensing remains operational throughout the grasping or walking sequence and yields higher task success rates than perception-unaware planning.

RELIABILITY ASSESSMENT OF AXIALLY COMPRESSED COMPOSITE CYLINDRICAL SHELLS WITH RANDOM IMPERFECTIONS

2011 ◽  
Vol 11 (02) ◽  
pp. 215-236 ◽  
Author(s):  
MATTEO BROGGI ◽  
ADRIANO CALVI ◽  
GERHART I. SCHUËLLER
Keyword(s):  
Mathematical Models ◽  
Axial Compression ◽  
Cylindrical Shells ◽  
Reliability Assessment ◽  
Buckling Analysis ◽  
Buckling Load ◽  
Experimental Results ◽  
Drastic Decrease ◽  
Different Types ◽  
Probability And Statistics

Cylindrical shells under axial compression are susceptible to buckling and hence require the development of enhanced underlying mathematical models in order to accurately predict the buckling load. Imperfections of the geometry of the cylinders may cause a drastic decrease of the buckling load and give rise to the need of advanced techniques in order to consider these imperfections in a buckling analysis. A deterministic buckling analysis is based on the use of the so-called knockdown factors, which specifies the reduction of the buckling load of the perfect shell in order to account for the inherent uncertainties in the geometry. In this paper, it is shown that these knockdown factors are overly conservative and that the fields of probability and statistics provide a mathematical vehicle for realistically modeling the imperfections. Furthermore, the influence of different types of imperfection on the buckling load are examined and validated with experimental results.

Sign in / Sign up

Export Citation Format

Share Document