scholarly journals Dynamic Roll-and-Rise Motion by an Adult-Size Humanoid Robot

2005 ◽  
Vol 23 (6) ◽  
pp. 706-717 ◽  
Author(s):  
Yasuo Kuniyoshi ◽  
Yoshiyuki Ohmura ◽  
Koji Terada ◽  
Akihiko Nagakubo
Keyword(s):  
Humanoid Robot ◽  
Adult Size

Color Image Processing and Self-Localization for a Humanoid Soccer Robot

2013 ◽  
Vol 461 ◽  
pp. 877-885
Author(s):  
Wei Hong ◽  
Yan Hui Zhang ◽  
Yan Tao Tian ◽  
Chang Jiu Zhou
Keyword(s):  
Image Processing ◽  
Humanoid Robot ◽  
Color Image ◽  
Hopfield Network ◽  
Color Image Segmentation ◽  
Adult Size ◽  
Image Processing Algorithm ◽  
Soccer Robot ◽  
Operator Field ◽  
Rule Changes

The paper proposed a series of image processing algorithm to recognize the evidences in an image accurately for humanoid soccer robot, such as color image segmentation based on HSV model, edge detection based on four linear operator, field straight line extraction by Hough transform based on 8-neighbhour connected domain clusters and identification of line intersection shape based on Hopfield network. Based on evidences from image processing, Piecewise Monte Carlo localization is presented to solve kidnap problem so that localization of humanoid robot can be not only adapt to rule changes for competition, but also be more efficient and robust. The effectiveness of the piecewise MCL is verified by RoboCup Adult Size humanoid soccer robot, Erectus. The experimental results showed that the humanoid robot was able to solve the kidnap problem adaptively with two strategies: resetting or revising, in which resetting was more efficient than revising gradually.

DYNAMIC ROLL-AND-RISE MOTION BY AN ADULT-SIZE HUMANOID ROBOT

2004 ◽  
Vol 01 (03) ◽  
pp. 497-516 ◽  
Author(s):  
YASUO KUNIYOSHI ◽  
YOSHIYUKI OHMURA ◽  
KOJI TERADA ◽  
AKIHIKO NAGAKUBO
Keyword(s):  
Critical Points ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
The Body ◽  
Whole Body ◽  
Adult Size ◽  
Constrained Motion ◽  
Goal State ◽  
Trade Offs ◽  
Alternative Approach

Whole-body dynamic actions under various contacts with the environment will be very important for future humanoid robots to support human tasks in unstructured environments. Such skills are very difficult to realize using the standard motion control methodology based on asymptotic convergence to the successive desired states. An alternative approach would be to exploit the passive dynamics of the body under constrained motion, and to navigate through multiple dynamics by imposing the least control in order to robustly reach the goal state. As a first example of such a strategy, we propose and investigate a "Roll-and-Rise" motion. This is a fully dynamic whole-body task including underactuated motion whose state trajectory is insoluble, and unpredictable perturbations due to complex contacts with the ground. First, we analyze the global structure of Roll-and-Rise motion. Then the critical points are analyzed using simplified models and simulations. The results suggest a non-uniform control strategy which focuses on sparse critical points in the global phase space, and allows deviations and trade-offs at other parts. Finally, experiments with a real adult-size humanoid robot are successfully carried out. The robot rose from a flat-lying posture to a crouching posture within 2 seconds.

VISION-BASED OBSTACLE AVOIDANCE NAVIGATION WITH AUTONOMOUS HUMANOID ROBOTS FOR STRUCTURED COMPETITION PROBLEMS

2013 ◽  
Vol 10 (03) ◽  
pp. 1350021 ◽  
Author(s):  
CHUNG-HSIEN KUO ◽  
HUNG-CHYUN CHOU ◽  
SHOU-WEI CHI ◽  
YU-DE LIEN
Keyword(s):  
Obstacle Avoidance ◽  
Humanoid Robot ◽  
Ground Truth ◽  
Humanoid Robots ◽  
Visual Localization ◽  
Adult Size ◽  
Map Construction ◽  
Rule Approach ◽  
High Level ◽  
Autonomous Humanoid

Biped humanoid robots have been developed to successfully perform human-like locomotion. Based on the use of well-developed locomotion control systems, humanoid robots are further expected to achieve high-level intelligence, such as vision-based obstacle avoidance navigation. To provide standard obstacle avoidance navigation problems for autonomous humanoid robot researches, the HuroCup League of Federation of International Robot-Soccer Association (FIRA) and the RoboCup Humanoid League defined the conditions and rules in competitions to evaluate the performance. In this paper, the vision-based obstacle avoidance navigation approaches for humanoid robots were proposed in terms of combining the techniques of visual localization, obstacle map construction and artificial potential field (APF)-based reactive navigations. Moreover, a small-size humanoid robot (HuroEvolutionJR) and an adult-size humanoid robot (HuroEvolutionAD) were used to evaluate the performance of the proposed obstacle avoidance navigation approach. The navigation performance was evaluated with the distance of ground truth trajectory collected from a motion capture system. Finally, the experiment results demonstrated the effectiveness of using vision-based localization and obstacle map construction approaches. Moreover, the APF-based navigation approach was capable of achieving smaller trajectory distance when compared to conventional just-avoiding-nearest-obstacle-rule approach.

scholarly journals Time-Shift Correlation Algorithm for P300 Event Related Potential Brain-Computer Interface Implementation

2016 ◽  
Vol 2016 ◽  
pp. 1-22 ◽  
Author(s):  
Ju-Chi Liu ◽  
Hung-Chyun Chou ◽  
Chien-Hsiu Chen ◽  
Yi-Tseng Lin ◽  
Chung-Hsien Kuo
Keyword(s):  
Humanoid Robot ◽  
Brain Computer Interface ◽  
Event Related Potential ◽  
Computer Interface ◽  
Time Shift ◽  
Series Data ◽  
Adult Size ◽  
Accuracy Rate ◽  
Correlation Algorithm ◽  
High Efficient

A high efficient time-shift correlation algorithm was proposed to deal with the peak time uncertainty of P300 evoked potential for a P300-based brain-computer interface (BCI). The time-shift correlation series data were collected as the input nodes of an artificial neural network (ANN), and the classification of four LED visual stimuli was selected as the output node. Two operating modes, including fast-recognition mode (FM) and accuracy-recognition mode (AM), were realized. The proposed BCI system was implemented on an embedded system for commanding an adult-size humanoid robot to evaluate the performance from investigating the ground truth trajectories of the humanoid robot. When the humanoid robot walked in a spacious area, the FM was used to control the robot with a higher information transfer rate (ITR). When the robot walked in a crowded area, the AM was used for high accuracy of recognition to reduce the risk of collision. The experimental results showed that, in 100 trials, the accuracy rate of FM was 87.8% and the average ITR was 52.73 bits/min. In addition, the accuracy rate was improved to 92% for the AM, and the average ITR decreased to 31.27 bits/min. due to strict recognition constraints.

Persistence of giants: population dynamics of the limpet Scutellastra laticostata on rocky shores in Western Australia

2020 ◽  
Vol 646 ◽  
pp. 79-92
Author(s):  
RE Scheibling ◽  
R Black
Keyword(s):  
Population Dynamics ◽  
Western Australia ◽  
Size Structure ◽  
Survival Rates ◽  
Maximum Size ◽  
High Rate ◽  
Adult Survival ◽  
Rocky Shores ◽  
Adult Size ◽  
Decadal Time Scale

Population dynamics and life history traits of the ‘giant’ limpet Scutellastra laticostata on intertidal limestone platforms at Rottnest Island, Western Australia, were recorded by interannual (January/February) monitoring of limpet density and size structure, and relocation of marked individuals, at 3 locations over periods of 13-16 yr between 1993 and 2020. Limpet densities ranged from 4 to 9 ind. m-2 on wave-swept seaward margins of platforms at 2 locations and on a rocky notch at the landward margin of the platform at a third. Juvenile recruits (25-55 mm shell length) were present each year, usually at low densities (<1 m-2), but localized pulses of recruitment occurred in some years. Annual survival rates of marked limpets varied among sites and cohorts, ranging from 0.42 yr-1 at the notch to 0.79 and 0.87 yr-1 on the platforms. A mass mortality of limpets on the platforms occurred in 2003, likely mediated by thermal stress during daytime low tides, coincident with high air temperatures and calm seas. Juveniles grew rapidly to adult size within 2 yr. Asymptotic size (L∞, von Bertalanffy growth model) ranged from 89 to 97 mm, and maximum size from 100 to 113 mm, on platforms. Growth rate and maximum size were lower on the notch. Our empirical observations and simulation models suggest that these populations are relatively stable on a decadal time scale. The frequency and magnitude of recruitment pulses and high rate of adult survival provide considerable inertia, enabling persistence of these populations in the face of sporadic climatic extremes.

Group exercises aimed at poor body posture correction assisted by humanoid robot - A case study

2019 ◽  
Author(s):  
Aleksandra Mikov ◽  
Dragana Vukliš ◽  
Branislav Borovac ◽  
Milan Gnjatović ◽  
Jovica Tasevski ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Body Posture

TEACHING A HUMANOID ROBOT THE ALPHABET IN LIBRAS

2019 ◽  
Author(s):  
Marlete Silva ◽  
José Maurício Santos Torres da Motta
Keyword(s):  
Humanoid Robot
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