scholarly journals Adaptive Bio-Inspired Control of Humanoid Robots — From Human Locomotion to an Artificial Biped Gait of High Performances

10.5772/7793 ◽  
2009 ◽  
Author(s):  
Aleksandar Rodic ◽  
Khalid Addi ◽  
Georges Dalleau
Keyword(s):  
Humanoid Robots ◽  
Human Locomotion

Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation

2019 ◽  
Vol 4 (35) ◽  
pp. eaav4282 ◽  
Author(s):  
Joao Ramos ◽  
Sangbae Kim
Keyword(s):  
Sagittal Plane ◽  
Frontal Plane ◽  
Humanoid Robots ◽  
Human Locomotion ◽  
Human Motion ◽  
Body Motion ◽  
Human Operator ◽  
Whole Body ◽  
Physical Endurance ◽  
Bipedal Robot

Despite remarkable progress in artificial intelligence, autonomous humanoid robots are still far from matching human-level manipulation and locomotion proficiency in real applications. Proficient robots would be ideal first responders to dangerous scenarios such as natural or man-made disasters. When handling these situations, robots must be capable of navigating highly unstructured terrain and dexterously interacting with objects designed for human workers. To create humanoid machines with human-level motor skills, in this work, we use whole-body teleoperation to leverage human control intelligence to command the locomotion of a bipedal robot. The challenge of this strategy lies in properly mapping human body motion to the machine while simultaneously informing the operator how closely the robot is reproducing the movement. Therefore, we propose a solution for this bilateral feedback policy to control a bipedal robot to take steps, jump, and walk in synchrony with a human operator. Such dynamic synchronization was achieved by (i) scaling the core components of human locomotion data to robot proportions in real time and (ii) applying feedback forces to the operator that are proportional to the relative velocity between human and robot. Human motion was sped up to match a faster robot, or drag was generated to synchronize the operator with a slower robot. Here, we focused on the frontal plane dynamics and stabilized the robot in the sagittal plane using an external gantry. These results represent a fundamental solution to seamlessly combine human innate motor control proficiency with the physical endurance and strength of humanoid robots.

Multi-level control of zero-moment point-based humanoid biped robots: a review

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2440-2466 ◽  
Author(s):  
Hayder F. N. Al-Shuka ◽  
B. Corves ◽  
Wen-Hong Zhu ◽  
B. Vanderborght
Keyword(s):  
Control Strategies ◽  
Humanoid Robots ◽  
Human Locomotion ◽  
Level Control ◽  
Biped Robots ◽  
Zero Moment Point ◽  
Cluttered Environments ◽  
Multi Level ◽  
Zero Moment ◽  
Autonomous Humanoid

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

FROM HUMAN MOTION CAPTURES TO HUMANOID SPATIAL COORDINATION

2012 ◽  
Vol 09 (03) ◽  
pp. 1250019 ◽  
Author(s):  
PALYART LAMARCHE JEAN-CHRISTOPHE ◽  
BRUNEAU OLIVIER ◽  
FONTAINE JEAN-GUY
Keyword(s):  
Inverse Kinematics ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Human Locomotion ◽  
Human Motion ◽  
Spatial Coordination ◽  
Preliminary Results

This paper describes a methodology translating human spatial coordination in a humanoid robots context. Once the human locomotion is captured, we highlight coordination relations describing motions. Relations and inverse kinematics are applied to a virtual humanoid, which is a tradeoff between human (anthropomorphic proportions) and robot (joints configuration). Further, we quantify all required adaptations for a real humanoid, such as scaling and equilibrium. Finally, this methodology is applied to a specific humanoid robot (called NAO) in order to illustrate and compare some preliminary results.

INNOVATIVE FOOT PRESSURE SENSOR DESIGN FOR HUMANOID ROBOTS

2019 ◽  
Author(s):  
FRANCISCO ARTHUR BONFIM AZEVEDO ◽  
Daniela Vacarini de Faria ◽  
Marcos Maximo ◽  
Mauricio Donadon
Keyword(s):  
Pressure Sensor ◽  
Humanoid Robots ◽  
Sensor Design ◽  
Foot Pressure

Lovotics

2017 ◽  
Author(s):  
Adrian David Cheok ◽  
Kasun Karunanayaka ◽  
Emma Yann Zhang
Keyword(s):  
Science Fiction ◽  
Intimate Relationships ◽  
Intelligent Systems ◽  
Humanoid Robots ◽  
Legal Issues ◽  
Sex Communication ◽  
Ethical And Legal Issues ◽  
Recent Activity ◽  
Academic Area ◽  
Robot Companions

Intimate relationships, such as love and sex, between human and machines, especially robots, has been one of the themes of science fiction. However, this topic has never been treated in the academic area until recently. It was first raised and discussed by David Levy in his book Love and Sex with Robotics (2007). Since then, researchers have come up with many implementations of robot companions, like sex robots, emotional robots, humanoid robots, and artificial intelligent systems that can simulate human emotions. This chapter presents a summary of significant recent activity in this field, predicts how the field is likely to develop, and discusses ethical and legal issues. We also discuss our research in physical devices for human–robot love and sex communication.

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